UM
Hybrid feedback for global asymptotic stabilization on a compact manifold
Casau P.2; Cunha R.1; Sanfelice R.G.1; Silvestre C.3
2018-01-18
Source Publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January
Pages2384-2389
AbstractIn this paper, we employ a hybrid feedback control strategy to globally asymptotically stabilize a setpoint on a smooth compact manifold without boundary satisfying the following: There exists a finite maximal atlas such that the desired setpoint belongs to each chart of the atlas. The proposed hybrid controller includes a proportional-derivative (PD) action during flows and, at jumps, uses hysteresis to switch between local coordinate charts to stabilize the desired setpoint robustly with respect to exogenous disturbances. We show that the proposed controller can be used for attitude stabilization of a rigid body and we illustrate the behavior of the closed-loop system via simulation results.
DOI10.1109/CDC.2017.8263998
URLView the original
Language英語
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Document TypeConference paper
专题University of Macau
Affiliation1.Universidade de Lisboa
2.Universidade de Macau
3.University of California, Santa Cruz
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GB/T 7714
Casau P.,Cunha R.,Sanfelice R.G.,et al. Hybrid feedback for global asymptotic stabilization on a compact manifold[C],2018:2384-2389.
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