2,226 research outputs found
Global tracking for an underactuated ships with bounded feedback controllers
In this paper, we present a global state feedback tracking controller for
underactuated surface marine vessels. This controller is based on saturated
control inputs and, under an assumption on the reference trajectory, the
closed-loop system is globally asymptotically stable (GAS). It has been
designed using a 3 Degree of Freedom benchmark vessel model used in marine
engineering. The main feature of our controller is the boundedness of the
control inputs, which is an essential consideration in real life. In absence of
velocity measurements, the controller works and remains stable with observers
and can be used as an output feedback controller. Simulation results
demonstrate the effectiveness of this method
-stabilization of integrator chains subject to input saturation using Lyapunov-based homogeneous design
Consider the -th integrator , where
, , is the -th Jordan block and
. We provide easily implementable state
feedback laws which not only render the closed-loop system globally
asymptotically stable but also are finite-gain -stabilizing with
arbitrarily small gain. These -stabilizing state feedbacks are built from
homogeneous feedbacks appearing in finite-time stabilization of linear systems.
We also provide additional -stabilization results for the case of
both internal and external disturbances of the -th integrator, namely for
the perturbed system where
and
On the Design of Voltage-Controlled Sinusoidal Oscillators Using OTA's
A unified systematic approach to the design of voltage-controlled oscillators using only operational transconductance amplifiers (OTA's) and capacitors is discussed in this paper. Two classical oscillator models, i.e., quadrature and bandpass-based, are employed to generate several oscillator structures. They are very appropriate for silicon monolithic implementations. The resulting oscillation frequencies are proportional to the transconductance of the OTA and this makes the reported structures well-suited for building voltage controlled oscillators (VCO's). Amplitude stabilization circuits using both automatic gain control (AGC) mechanisms and limitation schemes are presented which are compatible with the transconductance amplifier capacitor oscillator (TACO). Experimental results from bipolar breadboard and CMOS IC prototypes are included showing good potential of OTA-based oscillators for high frequency VCO operation.Comisión Interministerial de Ciencia y Tecnología ME87-000
Integrated chaos generators
This paper surveys the different design issues, from mathematical model to silicon, involved on the design of integrated circuits for the generation of chaotic behavior.Comisión Interministerial de Ciencia y Tecnología 1FD97-1611(TIC)European Commission ESPRIT 3110
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