کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
697431 | 890370 | 2008 | 12 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Switched seesaw control for the stabilization of underactuated vehicles Switched seesaw control for the stabilization of underactuated vehicles](/preview/png/697431.png)
This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using switching controllers. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). By exploiting these results, a methodology for control systems design—called switched seesaw control—is obtained that allows for the development of nonlinear control laws yielding input-to-state stability. The range of applicability and the efficacy of the methodology proposed are illustrated via two nontrivial design examples. Namely, stabilization of the extended nonholonomic double integrator (ENDI) and stabilization of an underactuated autonomous underwater vehicle (AUV) in the presence of input disturbances and measurement noise.
Journal: Automatica - Volume 43, Issue 12, December 2007, Pages 1997–2008