DocumentCode :
3169915
Title :
A "Throw-and-Catch" Hybrid Control Strategy for Robust Global Stabilization of Nonlinear Systems
Author :
Sanfelice, Ricardo G. ; Teel, Andrew R.
Author_Institution :
Univ. of California, Santa Barbara
fYear :
2007
fDate :
9-13 July 2007
Firstpage :
3470
Lastpage :
3475
Abstract :
We present a control strategy that combines local state feedback laws and open-loop schedules to robustly globally asymptotically stabilize a compact subset (typically a point) of the state space for a nonlinear system. The control algorithm is illustrated on the problem of global stabilization of the upright position of the pendubot and implemented in a hybrid controller containing logic variables and logic rules with hysteresis. We also present the design procedure of the hybrid controller for general nonlinear systems. Recent results in the literature on robustness of asymptotic stability in hybrid systems are used in establishing that the closed-loop system is robust to measurement noise and other external disturbances.
Keywords :
asymptotic stability; closed loop systems; feedback; nonlinear control systems; open loop systems; robust control; asymptotic stability; closed-loop system; local state feedback laws; logic rules; logic variables; nonlinear systems; open-loop schedules; robust global stabilization; throw-and-catch hybrid control strategy; Control systems; Logic; Noise robustness; Nonlinear control systems; Nonlinear systems; Open loop systems; Robust control; Robust stability; State feedback; State-space methods;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
ISSN :
0743-1619
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2007.4282778
Filename :
4282778
Link To Document :
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