Reference : Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a U...
Scientific journals : Article
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/2268/14359
Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a Unicycle.
English
Efimov, Denis mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Panteley, Elena [SUPELEC > LSS > > >]
Loria, Antonio [SUPELEC > LSS > > >]
Jun-2009
Proc. American Control Conference, St. Louis
Yes
[en] supervisory control ; output feedback
[en] We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating an steady-state error on the second output. In other words, we are interested in input-output (asymptotic) stability for one output and practical (asymptotic) stability for the second. Upon the assumption that we dispose of two controllers each of which achieves separately a control objective (for either output) we propose
a switching rule to commute between the two controllers appropriately i.e., conserving the input-output stability, to some extent. The problem studied is reminiscent of different
concrete situations such as simultaneaous synchronization and tracking control of mechanical systems; in this article we revisit the problem of stabilizing a unicycle (regulation of the
first output) towards a point while ensuring obstacle-collision avoidance (practical stabilization of the second output).
http://hdl.handle.net/2268/14359

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Open access
EfimovACC'09.pdfPublisher postprint175.59 kBView/Open

Bookmark and Share SFX Query

All documents in ORBi are protected by a user license.