A Hybrid Controller based on Invariant Manifolds for the Stabilization of Chained Form Systems

Author

Cai, Hua ; Li, Sheng ; Hu, Weili

Author_Institution

Dept. of Autom., Nanjing Univ. of Sci. & Technol.

fYear

2006

fDate

25-28 June 2006

Firstpage

690

Lastpage

694

Abstract

Aimed at the stabilization problem of n-dimension chained system, the construct method of a hybrid control system is proposed in this paper. It is demonstrated that the proposed hybrid controller consists of a high-level controller and a low-level controller, and it can stabilize a given chained system from the initial state, which the initial state of x₁ don´t equate to zero, to the origin. Finally, a numerical example is shown to illustrate the construct method of the hybrid controller proposed in this paper, and the simulation results demonstrate the effectiveness of the hybrid controller

Keywords

manifolds; mechanical variables control; nonlinear control systems; stability; chained form systems; hybrid control system; hybrid controller; invariant manifolds; Adaptive control; Control system synthesis; Control systems; Mechanical systems; Mechatronics; Mobile robots; Nonlinear systems; Robotics and automation; Space technology; Space vehicles; chained form; hybrid control system; invariant manifolds; stabilization;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257673

Filename

4026167