TY - JOUR
T1 - Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems with Drift
AU - Braun, Philipp
AU - Kellett, Christopher M.
AU - Zaccarian, Luca
N1 - Publisher Copyright:
© 1963-2012 IEEE.
PY - 2021/2
Y1 - 2021/2
N2 - 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.
AB - 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.
KW - Global asymptotic stability (GAS)
KW - hybrid systems
KW - obstacle avoidance
KW - robust controller design
KW - state constraints
UR - http://www.scopus.com/inward/record.url?scp=85100441245&partnerID=8YFLogxK
U2 - 10.1109/TAC.2020.2986730
DO - 10.1109/TAC.2020.2986730
M3 - Article
SN - 0018-9286
VL - 66
SP - 595
EP - 610
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 2
M1 - 9064903
ER -