We focus on a class of nonlinear systems that can be stabilized at a desired compact set by means of logic-based continuous feedback and we show how to design regulators that are robust to matched exosystem-generated disturbances. The proposed design methodology, of interest also for purely continuous-time systems, combines recent advances in the field of hybrid control systems and output regulation for nonlinear systems. As an illustrative example, the problem of global stabilization of a 6-DOF rigid body affected by a force periodic disturbance of uncertain amplitude, phase and frequency, is presented.

Design of nonlinear regulators from logic-based stabilizers

MARCONI, LORENZO;
2010

Abstract

We focus on a class of nonlinear systems that can be stabilized at a desired compact set by means of logic-based continuous feedback and we show how to design regulators that are robust to matched exosystem-generated disturbances. The proposed design methodology, of interest also for purely continuous-time systems, combines recent advances in the field of hybrid control systems and output regulation for nonlinear systems. As an illustrative example, the problem of global stabilization of a 6-DOF rigid body affected by a force periodic disturbance of uncertain amplitude, phase and frequency, is presented.
Proceedings of the 49th IEEE Conference on Decision and Control
1522
1527
L. Marconi; A. R. Teel
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/95053
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