Robust output feedback control of uncertain switched Euler-Lagrange systems

Teng-Hu Cheng, Ryan J. Downey, Warren E. Dixon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.

Original languageEnglish
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4668-4673
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - 1 Jan 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: 10 Dec 201313 Dec 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Conference

Conference52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period10/12/1313/12/13

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    Cheng, T-H., Downey, R. J., & Dixon, W. E. (2013). Robust output feedback control of uncertain switched Euler-Lagrange systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 4668-4673). [6760620] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760620