CUED Publications database

Follow the bouncing ball: Global results on tracking and state estimation with impacts

Forni, F and Teel, AR and Zaccarian, L (2013) Follow the bouncing ball: Global results on tracking and state estimation with impacts. IEEE Transactions on Automatic Control, 58. pp. 1470-1485. ISSN 0018-9286

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Abstract

In this paper, we formulate tracking and state-estimation problems of a translating mass in a polyhedral billiard as a stabilization problem for a suitable set. Due to the discontinuous trajectories arising from the impacts, we use hybrid systems stability analysis tools to establish the results. Using a novel concept of mirrored images of the target mass we prove that 1) a tracking control algorithm, and 2) an observer algorithm guarantee global exponential stability results for specific classes of polyhedral billiards, including rectangles. Moreover, we combine these two algorithms within dynamic controllers that guarantee global output feedback tracking. The results are illustrated via simulations. © 1963-2012 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:29
Last Modified: 21 Nov 2017 03:16
DOI: