This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems which can be described as hybrid automata. The framework reposes on a suitable definition of reference trajectories and desired Input-to-State Stability properties of the control law, which guarantee the desired behavior of the hybrid automata in terms of robust transition between operative modes or robust permanence in a specific operative mode. The robustness features of the proposed approach regard possible uncertainties both on the controlled dynamics and on the underlying hybrid automaton
L. Marconi, R. Naldi, L. Gentili (2009). A Control Framework for Robust Practical Tracking of Hybrid Automata. s.l : IEEE.
A Control Framework for Robust Practical Tracking of Hybrid Automata
MARCONI, LORENZO;NALDI, ROBERTO;GENTILI, LUCA
2009
Abstract
This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems which can be described as hybrid automata. The framework reposes on a suitable definition of reference trajectories and desired Input-to-State Stability properties of the control law, which guarantee the desired behavior of the hybrid automata in terms of robust transition between operative modes or robust permanence in a specific operative mode. The robustness features of the proposed approach regard possible uncertainties both on the controlled dynamics and on the underlying hybrid automatonI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.