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Conference Papers Year : 2015

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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Dates and versions

hal-01218958 , version 1 (21-10-2015)

Identifiers

  • HAL Id : hal-01218958 , version 1

Cite

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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