Robust output feedback control of uncertain switched Euler-Lagrange systems

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

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
發行者Institute of Electrical and Electronics Engineers Inc.
頁面4668-4673
頁數6
ISBN(列印)9781467357173
DOIs
出版狀態Published - 1 一月 2013
事件52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
持續時間: 10 十二月 201313 十二月 2013

出版系列

名字Proceedings of the IEEE Conference on Decision and Control
ISSN(列印)0191-2216

Conference

Conference52nd IEEE Conference on Decision and Control, CDC 2013
國家Italy
城市Florence
期間10/12/1313/12/13

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    Cheng, T-H., Downey, R. J., & Dixon, W. E. (2013). Robust output feedback control of uncertain switched Euler-Lagrange systems. 於 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (頁 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