Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift
dc.contributor.author | Braun, Philipp | |
dc.contributor.author | Kellett, Christopher | |
dc.contributor.author | Zaccarian, Luca | |
dc.date.accessioned | 2023-03-02T02:57:25Z | |
dc.date.issued | 2021 | |
dc.date.updated | 2021-12-26T07:18:13Z | |
dc.description.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. | en_AU |
dc.description.sponsorship | This work was supported by the Agence Nationale de la Recherche via “Hybrid and Networked Dynamical Systems” under Grant ANR-18-CE40-0010. The work of Philipp Braun and Christopher M. Kellett was supported by the Australian Research Council under Grant ARC-DP160102138. The work of Luca Zaccarian was supported by the outgoing mobility program “Mobilité sortante seule” of the Institut National des Sciences Appliquées of Toulouse, France. | en_AU |
dc.format.mimetype | application/pdf | en_AU |
dc.identifier.issn | 0018-9286 | en_AU |
dc.identifier.uri | http://hdl.handle.net/1885/286577 | |
dc.language.iso | en_AU | en_AU |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | en_AU |
dc.relation | http://purl.org/au-research/grants/arc/DP160102138 | en_AU |
dc.rights | © 2020 IEEE | en_AU |
dc.source | IEEE Transactions on Automatic Control | en_AU |
dc.subject | Global asymptotic stability (GAS) | en_AU |
dc.subject | hybrid systems | en_AU |
dc.subject | obstacle avoidance | en_AU |
dc.subject | robust controller design | en_AU |
dc.subject | state constraints | en_AU |
dc.title | Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift | en_AU |
dc.type | Journal article | en_AU |
dcterms.dateAccepted | 2020-03-29 | |
local.bibliographicCitation.issue | 2 | en_AU |
local.bibliographicCitation.lastpage | 610 | en_AU |
local.bibliographicCitation.startpage | 595 | en_AU |
local.contributor.affiliation | Braun, Philipp, University of Newcastle | en_AU |
local.contributor.affiliation | Kellett, Christopher, College of Engineering and Computer Science, ANU | en_AU |
local.contributor.affiliation | Zaccarian, Luca, University of Trento | en_AU |
local.contributor.authoremail | u1090455@anu.edu.au | en_AU |
local.contributor.authoruid | Kellett, Christopher, u1090455 | en_AU |
local.description.embargo | 2099-12-31 | |
local.description.notes | Imported from ARIES | en_AU |
local.identifier.absfor | 400700 - Control engineering, mechatronics and robotics | en_AU |
local.identifier.ariespublication | a383154xPUB17792 | en_AU |
local.identifier.citationvolume | 66 | en_AU |
local.identifier.doi | 10.1109/TAC.2020.2986730 | en_AU |
local.identifier.scopusID | 2-s2.0-85100441245 | |
local.identifier.uidSubmittedBy | a383154 | en_AU |
local.publisher.url | https://ieeexplore.ieee.org/ | en_AU |
local.type.status | Published Version | en_AU |
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