Abstract
In this paper, we present an unified view of a variety of feedback control design approaches under the framework of manifold based feedback design. We examine the role of manifolds in system reduction and feedback design which exploits time-scale separations. Design specified manifolds for a number of different control design objectives are introduced, using high gain and variable structure feedback as the mean of enforcing desirable closed loop behavior. Using robotics applications, the utility of manifold based feedback design is demonstrated.
This paper was prepared during the author's professional leave with the Institute of Industrial Science, University of Tokyo, Tokyo 106, JAPAN which is locally sponsored by the Foundation for the Promotion of Industrial Science.
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References
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© 1996 Springer-Verlag London Limited
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Young, K.D. (1996). Manifold based feedback design. In: Khalil, H.K., Chow, J.H., Ioannou, P.A. (eds) Proceedings of Workshop on Advances in Control and its Applications. Lecture Notes in Control and Information Sciences, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027707
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DOI: https://doi.org/10.1007/BFb0027707
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