A robust hybrid control strategy, that coordinates feedback and switching, is proposed for a broad class of hybrid nonlinear processes with constrained inputs and uncertain dynamics. The proposed strategy involves the coordinated synthesis, via multiple Lyapunov functions, of a family of bounded robust nonlinear feedback controllers that stabilize the constituent modes of the hybrid system, tog...

Swing up and balance control are two interesting control problems for the Pendubot. Many studies have been conducted for swing up control of the Pendubot. A few results have been reported for feedback stabilization of the Pendubot. In this paper, we will apply a new hybrid controller for feedback stabilization of the Pendubot. To the best of the authors’ knowledge, this is the first implementat...

This paper addresses and solves two optimal state-feedback control design problems for sampled-data systems. First, we reformulate the closed-loop system as a special linear hybrid system. Then, two theorems are developed to evaluate the H2 and the H∞ performances of hybrid systems using specific two-point boundary value problems. Both theorems are adapted to provide optimal control conditions,...

solvable by means of a simple hybrid control law, i.e., it is possible to achieve global exponential stability of the zero equilibrium in the presence of (small) perturbations vanishing at the origin. The control law retains the basic properties of the discontinuous control laws proposed in [1], namely exponential convergence rate and lack of oscillatory behavior. The results presented in this ...

This paper deals with the stabilization problem for a class of uncertain stochastic systems with Markovian jumps via the static output feedback control, where the uncertain parameters are norm bounded. A static output feedback controller that makes the closed-loop systems asymptotically mean-square stable is designed, which is obtained by solving some linear matrix inequalities.

In a typical dextrous manipulation task, a goal configuration is reached through a sequence of continuous motions. Most often, a motion plan is computed offline and subsequently used as a reference trajectory for a feedback controller. We present an alternative approach that only relies on feedback, no motion planning is necessary. Different feedback controllers are constructed and composed in ...

Abstract: In this paper the problem of stabilization of a particular class of hybrid systems is approached. For the class of discrete-time hybrid systems with time-delays, it is shown that under some assumption it is possible to express these systems in a common representation: piecewise affine systems. The stability of such systems is proved through Lyapunov theory, more accurate through quadr...

This presentation focuses on passivity-based control methods for hybrid systems. This includes a summary of previous definitions of passivity and dissipativity for switched systems. This framework allows for the generalization of passivity index theory to this important class of hybrid systems. It is a method of quantifying the level of passivity of a given system and is closely related to coni...

Carrying out an autonomous object prehension task, needs some active interaction with the environment, which only could be done with sensory integration on the robot tools. A study of the contact force control performed with tactile feedback in a low cost servo-controlled parallel jaw gripper is presented in this article. This gripper integrates matricial tactile sensors and proximity sensors. ...

in this paper, sufficient conditions are investigated for the existence of periodic (not necessarily positive) solutions for nonlinear several time delay population system with feedback control. nonlinear system affected by an periodic external source is studied. existence of a control variable provides  the extension of  some previous results obtained in other studies. we give a illustrative e...