Hybrid Regional Stabilization of Linear Systems with Actuator Saturation and Multi-Rate Samplers

Ferrante, Francesco; Sanfelice, Ricardo G.; Tarbouriech, Sophie

doi:10.23919/ecc.2018.8550561

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…Recalling that τ (s) ∈ Conv (S), using Assumption (12) and convexity arguments we get that Γ (s) ≺ 0, and therefore, from (19), we have…”

Section: B a General Stability Results For Impulsive Decentralized Symentioning

confidence: 97%

“…The work [11] considers the problem of decentralized estimation of a multi agent system in an unsynchronized setting. Using the same hybrid framework as [11], [12] shows stability of unsynchronized saturated linear systems. In [13] and [14] small gain arguments are used to establish stability of decentralized sampled-data systems while [15] use integral quadratic constraints to achieve the same objective.…”

Section: Introductionmentioning

confidence: 99%

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Investigating new classes of sampling sequences: Application to the stability analysis of decentralized sampled-data systems

Etienne

Motchon

Fiter

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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In this work, the stability problem of a decentralized control system where different sensors and actuators may communicate independently in an aperiodic and asynchronous manner is investigated. In order to conduct the analysis, we shift the focus from the decentralized system to the sampling sequence induced by several components communicating independently from each other. First it is shown how those sampling sequences at the level of the local component combine with each other when considering the overall system. Then the results obtained on the sampling sequence are applied, along with Lyapunov stability arguments in order to study the stability of decentralized sampled-data systems. Some experimental results obtained on an inverted pendulum benchmark are presented, to show the usefulness of the approach.

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“…Recalling that τ (s) ∈ Conv (S), using Assumption (12) and convexity arguments we get that Γ (s) ≺ 0, and therefore, from (19), we have…”

Section: B a General Stability Results For Impulsive Decentralized Symentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Investigating new classes of sampling sequences: Application to the stability analysis of decentralized sampled-data systems

Etienne

Motchon

Fiter

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

View full text Add to dashboard Cite

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“…On the other hand, set-valuedness of G, along with the closedness of the flow and jump sets, leads to nonunique solutions. This is a typical consequence when insisting on the satisfaction of the hybrid basic conditions; see, e.g., [25], [26], [27], [28].…”

Section: Hybrid Dynamical Modelmentioning

confidence: 99%

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Mandolino¹,

Ferrante²,

Rizzello³

2021

Preprint

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In this paper, a hybrid model for single-crystal Shape Memory Alloy (SMA) wire actuators is presented. The result is based on a mathematical reformulation of the M üller-Achenbach-Seelecke (MAS) model, which provides an accurate and interconnection-oriented description of the SMA hysteretic response. The strong nonlinearity and high numerical stiffness of the MAS model, however, hinder its practical use for simulation and control of complex SMA-driven systems. The main idea behind the hybrid reformulation is based on dividing the mechanical hysteresis of the SMA into five operating modes, each one representing a different physical state of the material. By properly deriving the switching conditions among those modes in a physically-consistent way, the MAS model is effectively reformulated within a hybrid dynamical setting. The main advantage of the hybrid reformulation is the possibility of describing the material dynamics with a simplified set of state equations while maintaining all benefits of the physicsbased description offered by the MAS model After describing the novel approach, simulation studies are conducted on a flexible robotic module actuated by protagonist-antagonist SMA wires. Through comparative numerical analysis, it is shown how the hybrid model provides the same accuracy as the MAS model while saving up to 80% of the simulation time. Moreover, the new modeling framework opens up the possibility of addressing SMA control from a hybrid systems perspective.

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A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Mandolino

Ferrante

Rizzello

2021

IEEE Robot. Autom. Lett.

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Hybrid Regional Stabilization of Linear Systems with Actuator Saturation and Multi-Rate Samplers

Cited by 3 publications

References 21 publications

Investigating new classes of sampling sequences: Application to the stability analysis of decentralized sampled-data systems

Investigating new classes of sampling sequences: Application to the stability analysis of decentralized sampled-data systems

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

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