Journal
NONLINEAR ANALYSIS-THEORY METHODS & APPLICATIONS
Volume 69, Issue 10, Pages 3232-3248Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.na.2005.10.052
Keywords
Hybrid control; Hybrid systems; Dynamic compensation; Impulsive dynamical systems; Lossless systems; Nonsmooth Euler-Lagrange systems
Categories
Funding
- Air Force Office of Scientific Research [FA9550-06-1-0240]
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A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in nonsmooth Euler-Lagrange, hybrid port-controlled Hamiltonian, and lossless impulsive dynamical systems. These dynamic controllers combine a logical switching architecture with hybrid dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to hybrid closed-loop systems described by impulsive differential equations. Special cases of energy-based hybrid controllers involving state-dependent switching are described, and an illustrative numerical example is given to demonstrate the efficacy of the proposed approach. (c) 2007 Elsevier Ltd. All rights reserved.
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