Output-feedback shared-control for fully actuated linear mechanical systems

Jiang, Jingjing; Astolfi, Alessandro

paper1.pdf (332.4 kB)

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 Astolfi

This 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 Conference

Citation

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 © AACC

Version

AM (Accepted Manuscript)

Publication date

2014

Notes

© 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.