Enlarging the Region of Attraction of Equilibria of Underactuated Systems Using Impulsive Inputs

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 underactuate...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2016-01, Vol.24 (1), p.334-340
Main Authors: Jafari, Rouhollah, Mathis, Frank B., Mukherjee, Ranjan, Khalil, Hassan
Format: Article
Language:English
Subjects:
Attraction
Control systems
Controllers
Dynamical systems
Dynamics
Effectiveness
Expansion
High-gain feedback
impulsive control
Joints
Manifolds
Mathematical model
Mechanical systems
region of attraction
Simulation
Torque
underactuated system
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Summary: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.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2015.2424925