Design of oscillatory control systems

Sonia Martínez, Jorge Cortés and Francesco Bullo
Proceedings of the 41st IEEE Int. Conf. Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 1509-1514

Abstract:

This paper presents a broad and rigorous framework for the analysis and design of control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis result is a series expansion characterizing the averaged system. This expansion leads to efficient algorithms for stabilization of systems with positive trace and for trajectory tracking for second-order underactuated systems. A second-order nonholonomic integrator and the PVTOL example provide insight into the trajectory tracking controller.

File: main.pdf

Bib-tex entry:

@InProceedings{SM-JC-FB:02,
author = {J. Cort\'es and S. Mart{\'\i}nez and F. Bullo},
booktitle = {41st IEEE International Conference on Decision and Control},
title = {Design of oscillatory control systems},
pages = {1509--1514},
year = {2002},
address = {Las Vegas, Nevada},
month = {December}
}