Geometric control of input saturated systems with guaranteed closed-loop performance and stability

Sairam Valluri, Vikram Kapila

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper we study the issue of stability of input constrained closed-loop systems with a class of differential geometric controllers. Specifically, a Lyapunov function-based method is presented for determining the closed-loop stability under recently developed geometric control laws for single-input single-output systems. This method provides a subset of the domain of attraction for guaranteed stability of the closed-loop system. Furthermore, it offers flexibility in adjusting the closed-loop performance while ensuring closed-loop stability in the presence of input saturation. Hence, by using this framework the designer can a posteriori verify overall stability of the closed-loop system for a desired closed-loop performance.

Original languageEnglish (US)
Pages (from-to)2486-2490
Number of pages5
JournalProceedings of the American Control Conference
Volume4
StatePublished - 1999
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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