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Reset control of the double integrator with finite settling time and finite jerk

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Reset control of the double integrator with finite settling time and finite jerk

Barreiro Blas, Antonio; Baños, Alfonso; Delgado Romero, Maria Emma
 
DATE : 2021-05
UNIVERSAL IDENTIFIER : http://hdl.handle.net/11093/2751
UNESCO SUBJECT : 3311.02 Ingeniería de Control
DOCUMENT TYPE : article

ABSTRACT :

This work develops a new reset-based feedback controller that stabilizes a double integrator plant, in finite-time under a finite-jerk restriction (that is without jumps in acceleration). It is proved that these objectives can be achieved by a second order controller with adequate jerk resettings and a special crossing manifold. The solution is justified with the help of an intuitive geometrical approach (spherical projection of trajectories). The nominal solution is robustified as a hybrid system and simulations show satisfactory performance under output disturbances and state measurement uncertainty. The proposal is compared to several finite-time controllers previously developed in the literature.

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