An optimized controller for region of attraction enlargment of underactuated systems using impulse manifold method


Pooshaneh R., Baradarannia M., Farzamnia A., Hashemzadeh F.

2018 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2018, Kota-Kinabalu, Malaysia, 08 November 2018, pp.106-110 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iicaiet.2018.8638448
  • City: Kota-Kinabalu
  • Country: Malaysia
  • Page Numbers: pp.106-110
  • Keywords: Impulse Manifold, Optimal Control, Region of Attraction
  • Istanbul Technical University Affiliated: No

Abstract

Impulsive control is an alternative method for enlarging the region of attraction of nonlinear underactuated systems. The goal of this paper is to propose a method based on impulsive control to enlarge the region of attraction and meanwhile, minimize the consumed control energy. A performance index based on the consumed control energy is defined. Then, minimizing this performance index along with the use of impulsive manifold method enlarge the region of attraction with minimum consumption of control energy. The efficiency of the presented method is shown through a simulation.