Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift

dc.contributor.authorBraun, Philipp
dc.contributor.authorKellett, Christopher
dc.contributor.authorZaccarian, Luca
dc.date.accessioned2023-03-02T02:57:25Z
dc.date.issued2021
dc.date.updated2021-12-26T07:18:13Z
dc.description.abstractWe 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.sponsorshipThis 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.mimetypeapplication/pdfen_AU
dc.identifier.issn0018-9286en_AU
dc.identifier.urihttp://hdl.handle.net/1885/286577
dc.language.isoen_AUen_AU
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)en_AU
dc.relationhttp://purl.org/au-research/grants/arc/DP160102138en_AU
dc.rights© 2020 IEEEen_AU
dc.sourceIEEE Transactions on Automatic Controlen_AU
dc.subjectGlobal asymptotic stability (GAS)en_AU
dc.subjecthybrid systemsen_AU
dc.subjectobstacle avoidanceen_AU
dc.subjectrobust controller designen_AU
dc.subjectstate constraintsen_AU
dc.titleExplicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Driften_AU
dc.typeJournal articleen_AU
dcterms.dateAccepted2020-03-29
local.bibliographicCitation.issue2en_AU
local.bibliographicCitation.lastpage610en_AU
local.bibliographicCitation.startpage595en_AU
local.contributor.affiliationBraun, Philipp, University of Newcastleen_AU
local.contributor.affiliationKellett, Christopher, College of Engineering and Computer Science, ANUen_AU
local.contributor.affiliationZaccarian, Luca, University of Trentoen_AU
local.contributor.authoremailu1090455@anu.edu.auen_AU
local.contributor.authoruidKellett, Christopher, u1090455en_AU
local.description.embargo2099-12-31
local.description.notesImported from ARIESen_AU
local.identifier.absfor400700 - Control engineering, mechatronics and roboticsen_AU
local.identifier.ariespublicationa383154xPUB17792en_AU
local.identifier.citationvolume66en_AU
local.identifier.doi10.1109/TAC.2020.2986730en_AU
local.identifier.scopusID2-s2.0-85100441245
local.identifier.uidSubmittedBya383154en_AU
local.publisher.urlhttps://ieeexplore.ieee.org/en_AU
local.type.statusPublished Versionen_AU

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