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 / L. Marconi; A. R. Teel. - STAMPA. - (2010), pp. 1522-1527. (Intervento presentato al convegno IEEE Conference on Decision and Control tenutosi a Atlanta, USA nel 15-17 December 2010).
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.
