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Hybrid Feedback for Global Asymptotic Stabilization on a Compact Manifold
Casau, Pedro; Cunha, Rita; Sanfelice, Ricardo G.; Silvestre, Carlos; IEEE
2017
Conference Name2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
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.
URLView the original
Indexed ByCPCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000424696902050
The Source to ArticleWOS
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Document TypeConference paper
专题University of Macau
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Casau, Pedro,Cunha, Rita,Sanfelice, Ricardo G.,et al. Hybrid Feedback for Global Asymptotic Stabilization on a Compact Manifold[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2017.
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