In this paper we present results on, firstly, the stability analysis for perturbed Lur'e-type measure differential inclusions and, secondly, the tracking control problem for this class of systems. The framework of measure differential inclusions allows us to describe systems with discontinuities in the state evolution, such as for example mechanical systems with unilateral constraints. As a stepping stone, we present results on the stability of time-varying solutions of such systems in the scope of the convergence property. Next, this property is exploited to provide a solution to the tracking problem. The results are illustrated by application to a mechanical motion system with a unilateral velocity constraint.
|Title of host publication||Dynamics and control of hybrid dynamical systems|
|Editors||G. Leonov, H. Nijmeijer, A. Pogromsky, A. Fradkov|
|Place of Publication||Singapore|
|Number of pages||246|
|Publication status||Published - 2010|
|Name||World scientific series on nonlinear science. Series B|