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Global tracking and state estimation with nonsmooth impacts for a mass confined to an n-dimensional half-space

Forni, F and Teel, AR and Zaccarian, L (2012) Global tracking and state estimation with nonsmooth impacts for a mass confined to an n-dimensional half-space. IFAC Proceedings Volumes (IFAC-PapersOnline). pp. 376-381. ISSN 1474-6670

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Abstract

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. © 2012 IFAC.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:29
Last Modified: 21 Sep 2017 01:37
DOI: