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portada Constructive Approaches to Submanifold Stabilization
Type
Physical Book
Publisher
Author
Language
English
Pages
110
Format
Paperback
ISBN13
9783832542870

Constructive Approaches to Submanifold Stabilization

Jan Maximilian Montenbruck (Author) · Logos Verlag Berlin · Paperback

Constructive Approaches to Submanifold Stabilization - Jan Maximilian Montenbruck

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Synopsis "Constructive Approaches to Submanifold Stabilization"

Submanifold stabilization is the problem of steering a quantity towards a desired submanifold of the space in which it evolves. This is done by controlling the system producing the quantity in an appropriate fashion. In this thesis, methods for explicitly constructing controllers which solve submanifold stabilization problems are proposed. To this end, three distinct approaches are pursued: For control systems modeled by input-affine differential equations, a construction for turning the submanifold into an asymptotically stable invariant set is presented. For controllers which shall stabilize the submanifold with minimal energy consumption, the structure of such optimal controls is investigated. For control systems modeled by input-output relationships, a framework for bounding the integral deviation of the output from the submanifold is proposed

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