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Global Asymptotic Stabilization with Smooth High-gain/Low-gain Transitions:AVA - Adaptive Variance Algorithm

Garofalo, Gianluca (2019) Global Asymptotic Stabilization with Smooth High-gain/Low-gain Transitions:AVA - Adaptive Variance Algorithm. 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Vienna, Austria.

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Abstract

This paper presents a state-feedback algorithm with adaptive gains, designed to solve the typical gain tuning trade-off between accurate tracking in a neighborhood of the working points and large control inputs far from their proximity. The main idea is to use a Gaussian function to specify a "trust" region around the working point. For values outside this region, the gain decays exponentially and therefore the actuation input is limited. On the other hand, the variance of the Gaussian is constantly adapted, so that the attractive region around the working point will expand and eventually allow the convergence to the desired value. The stability of the algorithm is analyzed and simulations are used to validate the theoretical results.

Item URL in elib:https://elib.dlr.de/128416/
Document Type:Conference or Workshop Item (Speech)
Title:Global Asymptotic Stabilization with Smooth High-gain/Low-gain Transitions:AVA - Adaptive Variance Algorithm
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Date:September 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Accepted
Keywords:Dynamic State Feedback; Adaptive Gains; Global Asymptotic Stability.
Event Title:11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019)
Event Location:Vienna, Austria
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:15 Jul 2019 10:41
Last Modified:31 Jul 2019 20:25

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