CUED Publications database

Reference Mirroring for Control with Impacts

Forni, F and Teel, AR and Zaccarian, L (2013) Reference Mirroring for Control with Impacts. In: Hybrid Systems with Constraints. UNSPECIFIED, pp. 213-255.

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This chapter illustrates a peculiar concept of mirrored reference to address reference tracking control systems for plants subject to impacts. The idea is based on the construction of artificial references corresponding to suitable reflections of the actual reference performed with respect to the impacting surfaces. The chapter illustrates the application of this idea to reference tracking and state observation for a number of examples of control systems subject to impacts: a one-dimensional hammer hitting a surface, a two-dimensional Newton's cradle, a two-dimensional mass moving in a planar equilateral triangle and a mass moving in an n-dimensional polyhedral region. It shows that the controller/observer design follows the same paradigm based on mirrored references. It highlights the similarities of the different proofs by showing that they are all based on a specific result about Lyapunov conditions for global exponential stability of hybrid dynamical systems. © 2013 by John Wiley & Sons, Inc.

Item Type: Book Section
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:29
Last Modified: 09 Sep 2021 01:13
DOI: 10.1002/9781118639856.ch8