Adaptive hidden mode tracking control with input constraints and bounded disturbances

Sze Yong, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper, we develop an adaptive control approach for hidden mode tracking of uncertain hybrid systems in Brunovsky form that are subject to actuator input amplitude and rate constraints, as well as bounded disturbances. Our approach adapts to the parameters of the hidden mode, and relies on a systematic modification of the reference model to deal with input constraints and disturbances in a stable manner. Global tracking capability is shown for input-to-state stable systems, while for input-to-state unstable systems, the local regions of attraction are characterized. The effectiveness of our input-constrained hidden mode tracking approach is illustrated with a robot walking example.

Original languageEnglish (US)
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1235-1242
Number of pages8
ISBN (Electronic)9781509018376
DOIs
StatePublished - Dec 27 2016
Externally publishedYes
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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    Yong, S., & Frazzoli, E. (2016). Adaptive hidden mode tracking control with input constraints and bounded disturbances. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1235-1242). [7798435] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798435