Article (Scientific journals)
Follow the bouncing ball: global results on tracking and state estimation with impacts
Forni, Fulvio; Teel, Andrew; Zaccarian, Luca
2013In IEEE Transactions on Automatic Control
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Keywords :
global tracking; hybrid systems; impacts
Abstract :
[en] In this paper we formulate tracking and state- estimation problems of a translating mass in a polyhedral billiard as a stabilization problem for a suitable set. Due to the discontinuous trajectories arising from the impacts, we use hybrid systems stability analysis tools to establish the results. Using a novel concept of mirrored images of the target mass we prove that 1) a tracking control algorithm, and 2) an observer algorithm guarantee global exponential stability results for specific classes of polyhedral billiards, including rectangles. Moreover, we combine these two algorithms within dynamic controllers that guarantee global output feedback tracking. The results are illustrated via simulations.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Forni, Fulvio ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Teel, Andrew;  UC Santa Barbara > Electrical and Computer Engineering (ECE)
Zaccarian, Luca;  LAAS CNRS, France, and University of Trento, Italy
Language :
English
Title :
Follow the bouncing ball: global results on tracking and state estimation with impacts
Publication date :
2013
Journal title :
IEEE Transactions on Automatic Control
ISSN :
0018-9286
Publisher :
IEEE, Piscataway, United States - New Jersey
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBi :
since 20 May 2013

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