An, Sang-ik und Park, Gyunghoon und Lee, Dongheui (2024) Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem. In: 62nd IEEE Conference on Decision and Control, CDC 2023, Seiten 2622-2629. IEEE. IEEE Conference on Decision and Control (CDC), 2023-12-13 - 2023-12-15, Marina Bay Sands, Singapore. doi: 10.1109/CDC49753.2023.10383658. ISBN 979-8-3503-0124-3. ISSN 2576-2370.
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Offizielle URL: https://ieeexplore.ieee.org/document/10383658
Kurzfassung
The prioritized control problem is a process to find a control strategy for a dynamical system with prioritized multiple outputs, so that it can operate outside its nonsingular domain. Singularity typically leads to imperfect inversion in the prioritized control problem, which in turn results in imperfect input-output feedback linearization. In this paper, we propose a method based on the Kalman-Yakubovich-Popov lemma that compensates nonlinear feedback terms caused by the imperfect inversion of the prioritized control problem. In order to realize this idea, we prove existence of a feedback gain matrix that gives a strictly positive real transfer function whose output matrix is identical to the feedback gain matrix. Our proof is constructive so that a set of such matrices can be found. Also, we provide a numerical approach that gives a larger set of feedback gain matrices and validate the result with numerical examples
elib-URL des Eintrags: | https://elib.dlr.de/203121/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem | ||||||||||||||||
Autoren: |
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Datum: | 19 Januar 2024 | ||||||||||||||||
Erschienen in: | 62nd IEEE Conference on Decision and Control, CDC 2023 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/CDC49753.2023.10383658 | ||||||||||||||||
Seitenbereich: | Seiten 2622-2629 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 2576-2370 | ||||||||||||||||
ISBN: | 979-8-3503-0124-3 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotic, input-output, Linearization, Control | ||||||||||||||||
Veranstaltungstitel: | IEEE Conference on Decision and Control (CDC) | ||||||||||||||||
Veranstaltungsort: | Marina Bay Sands, Singapore | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 13 Dezember 2023 | ||||||||||||||||
Veranstaltungsende: | 15 Dezember 2023 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonome, lernende Roboter [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Geyer, Günther | ||||||||||||||||
Hinterlegt am: | 06 Mär 2024 13:31 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:03 |
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