Uniting local and global controllers | IEEE Conference Publication | IEEE Xplore

Uniting local and global controllers


Abstract:

A controller structure is proposed that dynamically combines predesigned local (e.g., linear) and global set-point stabilizing controllers. The local controller is only m...Show More

Abstract:

A controller structure is proposed that dynamically combines predesigned local (e.g., linear) and global set-point stabilizing controllers. The local controller is only modified when the system to be controlled enters a region where the local controller loses its effectiveness. Thus, local performance and global stability are combined. Control objectives other than set-point tracking and the issue of robustness are discussed. The methodology is applied to achieve local performance and global stability for a class of fully-actuated Euler-Lagrange systems with input saturation.
Date of Conference: 01-07 July 1997
Date Added to IEEE Xplore: 09 April 2015
Print ISBN:978-3-9524269-0-6
Conference Location: Brussels, Belgium

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