期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 66, 期 2, 页码 595-610出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.2986730
关键词
Global asymptotic stability (GAS); hybrid systems; obstacle avoidance; robust controller design; state constraints
资金
- 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
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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