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Shared-control for fully actuated linear mechanical systems

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conference contribution
posted on 04.02.2019 by Jingjing Jiang, Alessandro Astolfi
This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

2013 IEEE 52nd Annual Conference on Decision and Control (CDC) 52nd IEEE Conference on Decision and Control

Citation

JIANG, J. and ASTOLFI, A., 2013. Shared-control for fully actuated linear mechanical systems. Presented at the 2013 52nd IEEE Annual Conference on Decision and Control, Florence, Italy, 10-13 December 2013, pp.4699-4704.

Publisher

© IEEE

Version

AM (Accepted Manuscript)

Publication date

2013

Notes

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISBN

9781467357142;9781467357173

Language

en

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