Enlarging the Region of Attraction of Equilibria of Underactuated Systems Using Impulsive Inputs
| Autor: | Frank B. Mathis, Ranjan Mukherjee, Hassan K. Khalil, Rouhollah Jafari |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Underactuation 020208 electrical & electronic engineering 02 engineering and technology Impulse (physics) Attraction Manifold Mechanical system 020901 industrial engineering & automation Control and Systems Engineering Control theory Control system 0202 electrical engineering electronic engineering information engineering Torque Electrical and Electronic Engineering business Control methods |
| Zdroj: | IEEE Transactions on Control Systems Technology. 24:334-340 |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2015.2424925 |
| Popis: | Underactuated dynamic systems typically have multiple isolated equilibria, and therefore, a stabilizing controller is effective only in the region of attraction of the equilibrium. An impulsive control method is proposed for enlarging the region of attraction of stabilized equilibria of underactuated systems. The method relies on obtaining an estimate of the region of attraction and intersection of this region with the impulse manifold. The efficacy of the method is demonstrated through simulations and experiments. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|