Output-Feedback Shared-Control for Fully Actuated Linear Mechanical Systems

Jiang, J; Astolfi, A

doi:https://www.dx.doi.org/10.1109/ACC.2014.6859061

File(s)

paper1.pdf (332.4 KB)

Published version

Author(s)

Jiang, J

Astolfi, A

Type

Conference Paper

Abstract

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.

Date Issued

2014-07-21

Date Acceptance

2014-06-04

Citation

American Control Conference (ACC), 2014, 2014, pp.335-340

URI

http://hdl.handle.net/10044/1/43213

DOI

https://www.dx.doi.org/10.1109/ACC.2014.6859061

ISSN

0743-1619

Publisher

IEEE

Start Page

335

End Page

340

Journal / Book Title

American Control Conference (ACC), 2014

Copyright Statement

© 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.

Identifier

http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000346492600053&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202

Source

American Control Conference

Subjects

Science & Technology

Technology

Automation & Control Systems

Engineering, Electrical & Electronic

Engineering

OBSTACLE AVOIDANCE

VEHICLE

Publication Status

Published

Start Date

2014-06-04

Finish Date

2014-06-06

Coverage Spatial

Portland, OR