Shared-control for fully actuated linear mechanical systems

This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared...

Full description

Saved in:

Bibliographic Details
Main Authors:	Jingjing Jiang, Alessandro Astolfi
Format:	Default Conference proceeding
Published:	2013
Subjects:	Other engineering not elsewhere classified untagged Engineering not elsewhere classified
Online Access:	https://hdl.handle.net/2134/36758
Tags:	Add Tag No Tags, Be the first to tag this record!

id	rr-article-9221345
record_format	Figshare
spelling	rr-article-92213452013-01-01T00:00:00Z Shared-control for fully actuated linear mechanical systems Jingjing Jiang (5731739) Alessandro Astolfi (7120631) Other engineering not elsewhere classified untagged Engineering not elsewhere classified This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm. 2013-01-01T00:00:00Z Text Conference contribution 2134/36758 https://figshare.com/articles/conference_contribution/Shared-control_for_fully_actuated_linear_mechanical_systems/9221345 CC BY-NC-ND 4.0
institution	Loughborough University
collection	Figshare
topic	Other engineering not elsewhere classified untagged Engineering not elsewhere classified
spellingShingle	Other engineering not elsewhere classified untagged Engineering not elsewhere classified Jingjing Jiang Alessandro Astolfi Shared-control for fully actuated linear mechanical systems
description	This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm.
format	Default Conference proceeding
author	Jingjing Jiang Alessandro Astolfi
author_facet	Jingjing Jiang Alessandro Astolfi
author_sort	Jingjing Jiang (5731739)
title	Shared-control for fully actuated linear mechanical systems
title_short	Shared-control for fully actuated linear mechanical systems
title_full	Shared-control for fully actuated linear mechanical systems
title_fullStr	Shared-control for fully actuated linear mechanical systems
title_full_unstemmed	Shared-control for fully actuated linear mechanical systems
title_sort	shared-control for fully actuated linear mechanical systems
publishDate	2013
url	https://hdl.handle.net/2134/36758
_version_	1797370835220037632

Shared-control for fully actuated linear mechanical systems

Similar Items