Observer-based control of linear complementarity systems

W.P.M.H. Heemels, M.K. Camlibel, B. Brogliato, J.M. Schumacher

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

6 Citaten (Scopus)

Samenvatting

In this paper, we will present observer and output-based controller design methods for linear complementarity systems (LCS) employing a passivity approach. Given various inherent properties of LCS, such as the presence of state jumps, mode dynamics described by DAEs, and regions ("invariants") for certain modes being lower dimensional, several proposed observers and controllers for other classes of hybrid dynamical systems do not apply. We will provide sufficient conditions for the observer design for a LCS, which is effective also in the presence of state jumps. Using the certainty equivalence approach we obtain output-based controllers for which we will derive a separation principle.
Originele taal-2Engels
TitelProceedings of the 11th International Workshop on Hybrid Systems : Computation and Control (HSCC 2008), 22-24 April 2008, St. Louis, MO, USA
RedacteurenM. Egerstedt, B. Mishra
Plaats van productieBerlin
UitgeverijSpringer
Pagina's259-272
DOI's
StatusGepubliceerd - 2008

Publicatie series

NaamLecture Notes in Computer Science
Volume4981
ISSN van geprinte versie0302-9743

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