Stabilization of systems with changing dynamics by means of switching

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1998, Pages 1090-1095

  Zefran, M ^a   Burdick, J W ^a  

^a California Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EMBEDDED SYSTEMS; ROBOTICS; STABILIZATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; HIERARCHICAL SYSTEMS; KINEMATICS; MOTION PLANNING; SYSTEM STABILITY;

CHANGING DYNAMICS; DYNAMIC BEHAVIOURS; DYNAMIC CHARACTERISTICS; IMPORTANT FEATURES; STABLE CONTROL; SWITCHING SCHEME;

SYSTEM STABILITY; ROBOTICS;

EMBEDDED MANIFOLDS;

EID: 0031645790     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677236     Document Type: Conference Paper

References (17)

1. J. Lygeros, D. N. Godbole, and S. S. Sastry, "A game theoretic approach to hybrid system design, " in LNCS 1066, pp. 1-12, Springer-Verlag, 1996.
2. A. Puri, Theory of hybrid systems and discrete event systems. PhD thesis, U. C. Berkeley, 1995.
3. A. Deshpande and P. Varaiya, "Viable control of hybrid systems, " in LNCS 999, pp. 128-147, Springer-Verlag, 1995.
4. W. Kohn, A. Nerode, J. B. Remmel, and X. Ge, "Multiple agent hybrid control: carrier manifolds and chattering approximations to (optimal control, " in Proceedings of the 33rd IEEE Conference on Decision and Control, (Lake Buena Vista, FL), pp. 4221-4227, 1994.
5. M. S. Branicky and S. K. Mitter, "Algorithms for optimal hybrid control, " in Proceedings of the 34th IEEE Conference on Decision and Control, (New Orleans, LA), pp. 2661-2666, 1995.
6. M. Zefran, J. Desai, and V. Kumar, "Continuous motion plans for robotic systems with changing dynamic behavior, " in Robotic motion and manipulation, pp. 113-128, Wellesley, MA: 14 K Peters, 1997.
7. B. Goodwine and J. W. Burdick, "A general method for motion planning for quas-static legged robotic locomotion." Preprint, 1997.
8. M. S. Branicky, "Stability of switched ancl hybrid systems, " in Proceedings of the 33rd IEEE Conjerence on Decision and Control, (Lake Buena Vista, FL), pp. 3498-3503, 1994.
9. J. Malmborg, B. M. Bernhardsson, and K. J. Astrom, "A stabilizing switching scheme for multi-controller systems, " in 13th IFAC World Congress, (San Francisco, CA), 1996.
10. P. Peleties and R. DeCarlo, "Asymptotic stability of m-switched systems using Lyapunov-like functions, " in American Control Conf, (BLoston), pp. 1679-1684, 1991.
11. L. Hou and A. N. Michel, "Stability analysis of a general class of hybrid dynamical sytems, " in Proceedings of the 1997 ACC, (Albuquerque, NM), pp. 2805-2809, 1997.
12. R. R. Burridge, A. A. Rizzi, and D. E. Koditschek, "Sequential composition of dynamically dexterous robot behaviors." Preprint, 1996.
13. G. StBptin, "Chaotic motion of wheels, " Vehicle System Dynamics, vol. 20, pp. 341-351, 1991.
14. B. Goodwine and G. StBpBn, "Controlling unstable rolling phenomena." To appear in the Journal of Vibration and Control, 1997.
15. M. Zefran and J. W. Burdick, "Switching control on embedded manifolds, " tech. rep. , Caltech, 1997.
16. W. Hahn, Stability of motion. Springer-Verlag, 1967.
17. A. Vannelli and M. Vidyasagar, , "Theory of partial stability theorems, converse theorem.s, and maximal Lyapunov functions, " in Proc. Annu. Southeast Symp. Syst. Theoy, (Piscataway, NJ), pp. 16-20, 1980.