Repositorio UVigo

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

Repositorio Investigo

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

Barreiro Blas, Antonio; Baños, Alfonso; Delgado Romero, Maria Emma
 
FECHA : 2021-05
IDENTIFICADOR UNIVERSAL : http://hdl.handle.net/11093/2751
MATERIA UNESCO : 3311.02 Ingeniería de Control
TIPO DE DOCUMENTO : article

RESUMEN :

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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