Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift

Title: Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift
Creator: Braun, Philipp; Kellett, Christopher M.; Zaccarian, Luca
Relation: ARC.DP160102138 http://purl.org/au-research/grants/arc/DP160102138
Relation: IEEE Transactions on Automatic Control Vol. 66, Issue 2, p. 595-610
Publisher Link: http://dx.doi.org/10.1109/TAC.2020.2986730
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2021
Description: We propose a constructive design method for linear systems with a nontrivial drift term, guaranteeing robust global asymptotic stability of the origin of the closed-loop system, as well as robust obstacle avoidance. To obtain discontinuous input actions, our controller is designed in the framework of hybrid systems. Using our proposed hybrid controller, we demonstrate that solutions do not enter a sphere, which we term an avoidance neighborhood, around specified isolated points. The constructive controller design methodology, as well as the closed-loop properties, is investigated via numerical examples.
Subject: global asymptotic stability (GAS); hybrid systems; obstacle avoidance; robust controller design; state constraints
Identifier: http://hdl.handle.net/1959.13/1435272
Identifier: uon:39664
Identifier: ISSN:0018-9286
Language: eng
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