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AUTOMATICA
2007

Switched seesaw control for the stabilization of underactuated vehicles

10 years 2 months ago
Switched seesaw control for the stabilization of underactuated vehicles
This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using switching controllers. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). By exploiting these results, a methodology for control systems design - called switched seesaw control is obtained that allows for the development of nonlinear control laws yielding input-to-state stability. The range of applicability and the efficacy of the methodology proposed are illustrated via two non-trivial design examples. Namely, stabilization of the extended nonholonomic double integrator (ENDI) and stabilization of an underactuated autonomous underwater vehicle (AUV) in the presence of input disturbances and measurement noise. Key words: Switched Systems, Hybrid Control, Stabilization, Nonholonomic Systems, Autonomous Underwater Vehicles.
A. Pedro Aguiar, João P. Hespanha, Ant&oacu
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2007
Where AUTOMATICA
Authors A. Pedro Aguiar, João P. Hespanha, António Manuel Santos Pascoal
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