Supporting Lemmas for RISE-based Control Methods
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2013
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866918311215759360 |
|---|---|
| author | Kamalapurkar, Rushikesh Rosenfeld, Joel A. Klotz, Justin Downey, Ryan J. Dixon, Warren E. |
| author_facet | Kamalapurkar, Rushikesh Rosenfeld, Joel A. Klotz, Justin Downey, Ryan J. Dixon, Warren E. |
| contents | A class of continuous controllers termed Robust Integral of the Signum of the Error (RISE) have been published over the last decade as a means to yield asymptotic convergence of the tracking error for classes of nonlinear systems that are subject to exogenous disturbances and/or modeling uncertainties. The development of this class of controllers relies on a property related to the integral of the signum of an error signal. A proof for this property is not available in previous literature. The stability of some RISE controllers is analyzed using differential inclusions. Such results rely on the hypothesis that a set of points is Lebesgue negligible. This paper states and proves two lemmas related to the properties. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1306_3432 |
| institution | arXiv |
| publishDate | 2013 |
| record_format | arxiv |
| spellingShingle | Supporting Lemmas for RISE-based Control Methods Kamalapurkar, Rushikesh Rosenfeld, Joel A. Klotz, Justin Downey, Ryan J. Dixon, Warren E. Systems and Control Optimization and Control A class of continuous controllers termed Robust Integral of the Signum of the Error (RISE) have been published over the last decade as a means to yield asymptotic convergence of the tracking error for classes of nonlinear systems that are subject to exogenous disturbances and/or modeling uncertainties. The development of this class of controllers relies on a property related to the integral of the signum of an error signal. A proof for this property is not available in previous literature. The stability of some RISE controllers is analyzed using differential inclusions. Such results rely on the hypothesis that a set of points is Lebesgue negligible. This paper states and proves two lemmas related to the properties. |
| title | Supporting Lemmas for RISE-based Control Methods |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/1306.3432 |