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.
L. Marconi, A. R. Teel (2010). Design of nonlinear regulators from logic-based stabilizers. SINE LOCO : IEEE.
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
