Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 66, Issue 2, Pages 595-610Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.2986730
Keywords
Global asymptotic stability (GAS); hybrid systems; obstacle avoidance; robust controller design; state constraints
Funding
- Agence Nationale de la Recherche via Hybrid and Networked Dynamical Systems [ANR-18-CE40-0010]
- Australian Research Council [ARC-DP160102138]
- outgoing mobility program Mobilite sortante seule of the Institut National des Sciences Appliquees of Toulouse, France
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The study introduces a design method for linear systems ensuring stability and obstacle avoidance, utilizing a hybrid controller design. The proposed controller successfully prevents solutions from entering a sphere around specified obstacle points.
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.
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