Browsing Electrical and Computer Engineering by Subject "Polytopes"
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Stabilization of Polytopes for Fully Actuated Euler-Lagrange Systems
(University of Waterloo, 2014-10-08)Given an Euler-Lagrange system and a convex polytope in its output space, we design a switched feedback controller that drives the output to the polytope. On the polytope, the system output tracks assigned trajectories ...