[en] We formulate tracking and state-estimation problems of a translating mass moving in an n-dimensional space and impacting on a hyperplane. Due to the discontinuous trajectories arising from the nonsmooth impacts, we use hybrid systems stability analysis tools to establish that 1) a tracking control algorithm and 2) an observer algorithm guarantee global exponential stability. Then, based on a separation principle, we combine the two constructions above to design a dynamic output feedback controller ensuring asymptotic tracking.
Research Center/Unit :
Systems and Modeling
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; University of California, Santa Barbara > Dept. of Electrical and Computer Engineering
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