ε-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation

Guerra, Matteo; Vázquez, Carlos; Efimov, Denis; Zheng, Gang; Freidovich, Leonid; Perruquetti, Wilfrid

Document type :

Communication dans un congrès avec actes

Title :

ε-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation

Author(s) :

Guerra, Matteo [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Vázquez, Carlos [Auteur]
Umeå University
Efimov, Denis [Auteur]

Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]

Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Freidovich, Leonid [Auteur]
Umeå University
Perruquetti, Wilfrid [Auteur]
Centrale Lille
Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

Conference title :

54th IEEE Conference on Decision and Control (CDC), 2015

City :

Osaka

Country :

Japon

Start date of the conference :

2015-12-14

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

This work addresses the stabilization of dynamical systems in presence of uncertain bounded perturbations using theory. Under some assumptions, the problem is reduced to the stabilization of a chain of integrators subject ...
Show more >This work addresses the stabilization of dynamical systems in presence of uncertain bounded perturbations using theory. Under some assumptions, the problem is reduced to the stabilization of a chain of integrators subject to a perturbation and is treated in two steps. The evaluation of the disturbance and its compensation. Homogeneous observer and control [5], [19] are the tools utilized to achieve a global asymptotic stability and robustness. The result is formally proven and, to validate the theory, it is applied to the control of the telescopic link of a hydraulic actuated industrial crane used in forestry. Experimental results and a comparison with a standard PI controller are presented.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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