Jorge Cortés

Professor





Design of oscillatory control systems
S. Martínez, J. Cortés, F. Bullo
Proceedings of the 41st IEEE Int. Conf. Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 1509-1514


Abstract

This paper presents a broad and rigorous framework for the analysis and design of control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis result is a series expansion characterizing the averaged system. This expansion leads to efficient algorithms for stabilization of systems with positive trace and for trajectory tracking for second-order underactuated systems. A second-order nonholonomic integrator and the PVTOL example provide insight into the trajectory tracking controller.

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Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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cortes at ucsd.edu
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