Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift
Date
2021
Authors
Braun, Philipp
Kellett, Christopher
Zaccarian, Luca
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Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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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Keywords
Global asymptotic stability (GAS), hybrid systems, obstacle avoidance, robust controller design, state constraints
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Source
IEEE Transactions on Automatic Control
Type
Journal article
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Restricted until
2099-12-31
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