Hybrid control systems, that is, systems which contain both continuous dynamics and discrete event dynamics are studied in this paper. First, a model is introduced that describes the continuous plant and discrete event controller along with an interface which connects them. A Discrete Event System (DES) automaton description is employed to describe the plant together with the interface and it i...

stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...

A new hybrid controller has been applied for feedback stabilization of a Pendubot, whose dynamics show second order nonholonomic properties. Experimental results for di erent test cases show that hybrid control outperforms the existing control algorithm. This successful implementation provides a novel alternative for the control of under-actuated mechanical systems. Many such systems are subjec...

Mao [10] recently initiated the study of the mean-square exponential stabilisation of continuous-time hybrid stochastic differential equations (SDEs) by the feedback controls based on the discrete-time observations of the state. However, the feedback controls still depend on the continuous-time observations of the mode. Of course this is perfectly fine if the mode of the system is obvious (i.e....

Abstract: Hybrid control laws often naturally arise in stabilization problems with constrained control. These control laws are sometimes not smooth which can lead to difficulties in stability proofs. In this paper we show that for a certain class of hybrid systems the stability properties follow from the stability properties of an appropriate linearization. As an application we show that surge ...

Hybrid mechanical press is an innovative sheet metal stamping press that has the advantages of both mechanical press and the hydraulic press. This paper focuses on the control of the hybrid mechanical press, including trajectory planning, trajectory optimization and real time feedback control. The trajectory planning is based on inverse kinematics and cubic spline interpolation. The trajectory ...