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ε-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation

Abstract : This work addresses the stabilization of dynamical systems in presence of uncertain bounded perturbations using 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.
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https://hal.inria.fr/hal-01218958
Contributor : Denis Efimov <>
Submitted on : Wednesday, October 21, 2015 - 6:39:59 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM
Long-term archiving on: : Friday, April 28, 2017 - 8:12:21 AM

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  • HAL Id : hal-01218958, version 1

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Matteo Guerra, Carlos Vázquez, Denis Efimov, Gang Zheng, Leonid Freidovich, et al.. ε-Invariant Output Stabilization: Homogeneous Approach and Dead Zone Compensation. 54th IEEE Conference on Decision and Control (CDC), 2015, Dec 2015, Osaka, Japan. ⟨hal-01218958⟩

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