期刊
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC)
卷 -, 期 -, 页码 8154-8159出版社
IEEE
关键词
-
资金
- Australian Research Council [ARC-DP160102138]
- ANR via project HANDY [ANR-18-CE40-0010]
An important problem in safety-critical applications is that of simultaneous stabilization (of the origin) and obstacle avoidance. When obstacles are defined by bounded sets of the state space, state feedback controllers are necessarily discontinuous and can be naturally formulated in the framework of hybrid systems. In previous work, we developed such hybrid controllers for linear systems when an obstacle is prohibited from being centered around an induced equilibrium of a single-input system or for multi-input systems when the input matrix has full row rank. In this paper, we explore a design for simultaneous stabilization of the origin and avoidance of an obstacle for single-input systems when the obstacle is centered around an induced equilibrium. The presented Lyapunov-based feedback control design provably works for planar systems and may work for systems of even degree.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据