Robust output feedback control of uncertain switched Euler-Lagrange systems

Teng-Hu Cheng; Ryan J. Downey; Warren E. Dixon

doi:10.1109/CDC.2013.6760620

Robust output feedback control of uncertain switched Euler-Lagrange systems

Teng-Hu Cheng, Ryan J. Downey, Warren E. Dixon

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.

Original language	English
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4668-4673
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6760620
State	Published - 1 Jan 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	10/12/13 → 13/12/13

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10.1109/CDC.2013.6760620

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Cheng, T.-H., Downey, R. J., & Dixon, W. E. (2013). Robust output feedback control of uncertain switched Euler-Lagrange systems. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 4668-4673). Article 6760620 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760620

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title = "Robust output feedback control of uncertain switched Euler-Lagrange systems",

abstract = "Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.",

author = "Teng-Hu Cheng and Downey, {Ryan J.} and Dixon, {Warren E.}",

year = "2013",

month = jan,

day = "1",

doi = "10.1109/CDC.2013.6760620",

language = "English",

isbn = "9781467357173",

series = "Proceedings of the IEEE Conference on Decision and Control",

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note = "52nd IEEE Conference on Decision and Control, CDC 2013 ; Conference date: 10-12-2013 Through 13-12-2013",

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Cheng, T-H, Downey, RJ & Dixon, WE 2013, Robust output feedback control of uncertain switched Euler-Lagrange systems. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6760620, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4668-4673, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10/12/13. https://doi.org/10.1109/CDC.2013.6760620

Robust output feedback control of uncertain switched Euler-Lagrange systems. / Cheng, Teng-Hu; Downey, Ryan J.; Dixon, Warren E.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 4668-4673 6760620 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.

AB - Output feedback (OFB) controllers for switched systems have been typically developed for linear systems. Of the OFB controllers that have been designed for switched nonlinear systems, at least partial knowledge of the system parameters is required, or the system results in local stability. In this paper, an OFB, time-dependent, switched controller is developed for an Euler-Lagrange system with parametric uncertainty and exogenous disturbances. The time-dependent switching signal is designed using an average dwell-time scheme based on multiple Lyapunov functions such that the switched system achieves semi-global uniformly ultimately bounded (UUB) tracking with arbitrary switching sequences.

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T2 - 52nd IEEE Conference on Decision and Control, CDC 2013

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Robust output feedback control of uncertain switched Euler-Lagrange systems

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