Geometric control of input saturated systems with guaranteed closed-loop performance and stability

Sairam Valluri, Vikram Kapila

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we study the issue of stability of input constrained closed-loop systems with a class of differential geometric controllers. Specifically, a Lyapunov function-based method is presented for determining the closed-loop stability under recently developed geometric control laws for single-input single-output systems. This method provides a subset of the domain of attraction for guaranteed stability of the closed-loop system. Furthermore, it offers flexibility in adjusting the closed-loop performance while ensuring closed-loop stability in the presence of input saturation. Hence, by using this framework the designer can a posteriori verify overall stability of the closed-loop system for a desired closed-loop performance.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages2486-2490
Number of pages5
Volume4
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

Other

OtherProceedings of the 1999 American Control Conference (99ACC)
CitySan Diego, CA, USA
Period6/2/996/4/99

Fingerprint

Closed loop systems
Lyapunov functions
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Valluri, S., & Kapila, V. (1999). Geometric control of input saturated systems with guaranteed closed-loop performance and stability. In Proceedings of the American Control Conference (Vol. 4, pp. 2486-2490). IEEE.

Geometric control of input saturated systems with guaranteed closed-loop performance and stability. / Valluri, Sairam; Kapila, Vikram.

Proceedings of the American Control Conference. Vol. 4 IEEE, 1999. p. 2486-2490.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Valluri, S & Kapila, V 1999, Geometric control of input saturated systems with guaranteed closed-loop performance and stability. in Proceedings of the American Control Conference. vol. 4, IEEE, pp. 2486-2490, Proceedings of the 1999 American Control Conference (99ACC), San Diego, CA, USA, 6/2/99.
Valluri S, Kapila V. Geometric control of input saturated systems with guaranteed closed-loop performance and stability. In Proceedings of the American Control Conference. Vol. 4. IEEE. 1999. p. 2486-2490
Valluri, Sairam ; Kapila, Vikram. / Geometric control of input saturated systems with guaranteed closed-loop performance and stability. Proceedings of the American Control Conference. Vol. 4 IEEE, 1999. pp. 2486-2490
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