Output-feedback shared-control for fully actuated linear mechanical systems
conference contribution
posted on 2019-02-04, 10:53 authored by Jingjing JiangJingjing Jiang, Alessandro AstolfiThis paper presents an output feedback shared-control algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
2014 American Control Conference - ACC 2014 2014 American Control ConferenceCitation
JIANG, J. and ASTOLFI, A., 2014. Output-feedback shared-control for fully actuated linear mechanical systems. Presented at the 2014 American Control Conference, Portland, OR, USA, 4-6 June 2014, pp.335-340.Publisher
IEEE © AACCVersion
- AM (Accepted Manuscript)
Publication date
2014Notes
© 2014 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
9781479932740ISSN
0743-1619eISSN
2378-5861Publisher version
Language
- en
