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Global tracking and state estimation with non- smooth impacts for a mass confined to an n-dimensional half-space
Forni, Fulvio; Teel, Andrew; Zaccarian, Luca
2012In IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 12)
Peer reviewed
 

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Keywords :
hybrid systems; nonsmooth impacts; hybrid tracking; hybrid observer
Abstract :
[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
Zaccarian, Luca;  Unversity of Toulouse > UPS, INSA, INP, ISAE, UT1, UTM, LAAS
Language :
English
Title :
Global tracking and state estimation with non- smooth impacts for a mass confined to an n-dimensional half-space
Publication date :
2012
Event name :
IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 12)
Event place :
Eindhoven, Netherlands
Event date :
June 6-8, 2012.
Audience :
International
Main work title :
IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 12)
Peer reviewed :
Peer reviewed
Funders :
Interuniversity Attraction Poles Programme, initiated by the Belgian State, Science Policy Office
Available on ORBi :
since 29 February 2012

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