期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 24, 期 1, 页码 334-340出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2015.2424925
关键词
High-gain feedback; impulsive control; region of attraction; underactuated system
资金
- National Science Foundation [CMMI 0925055]
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1462118] Funding Source: National Science Foundation
Underactuated dynamic systems typically have multiple isolated equilibria, and therefore, a stabilizing controller is effective only in the region of attraction of the equilibrium. An impulsive control method is proposed for enlarging the region of attraction of stabilized equilibria of underactuated systems. The method relies on obtaining an estimate of the region of attraction and intersection of this region with the impulse manifold. The efficacy of the method is demonstrated through simulations and experiments.
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