Abstract
This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.
Original language | English |
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Title of host publication | Proceedings of the 33rd IEEE Conference on Decision and Control |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 3475-3480 |
Number of pages | 6 |
ISBN (Print) | 0-7803-1968-0 |
DOIs | |
Publication status | Published - 14 Dec 1994 |
Event | 33rd IEEE Conference on Decision and Control, CDC 1994 - Buena Vista Palace, Lake Buena Vista, United States Duration: 14 Dec 1994 → 16 Dec 1994 Conference number: 33 |
Publication series
Name | |
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Publisher | IEEE |
Conference
Conference | 33rd IEEE Conference on Decision and Control, CDC 1994 |
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Abbreviated title | CDC |
Country | United States |
City | Lake Buena Vista |
Period | 14/12/94 → 16/12/94 |
Keywords
- METIS-141672
- IR-96360