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epsilon-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
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2015 (English)In: 2015 IEEE 54th Annual Conference on Decision and Control (CDC), 2015, p. 6874-6879Conference paper, Published paper (Refereed)
Abstract [en]

This work addresses the stabilization of dynamical systems in presence of uncertain bounded perturbations using epsilon-invariance theory. Under some assumptions, the problem is reduced to the stabilization of a chain of integrators subject to a perturbation and is treated in two steps. The evaluation of the disturbance and its compensation. Homogeneous observer and control [5], [19] are the tools utilized to achieve a global asymptotic stability and robustness. The result is formally proven and, to validate the theory, it is applied to the control of the telescopic link of a hydraulic actuated industrial crane used in forestry. Experimental results and a comparison with a standard PI controller are presented.

Place, publisher, year, edition, pages
2015. p. 6874-6879
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-129898DOI: 10.1109/CDC.2015.7403302ISI: 000381554507012ISBN: 978-1-4799-7886-1 (print)OAI: oai:DiVA.org:umu-129898DiVA, id: diva2:1063369
Conference
54th IEEE Conference on Decision and Control (CDC), DEC 15-18, 2015, Osaka, JAPAN
Available from: 2017-01-10 Created: 2017-01-10 Last updated: 2018-06-09Bibliographically approved

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Vazquez, CarlosFreidovich, Leonid

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