TY - GEN
T1 - Uniting control laws
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
AU - Braun, Philipp
AU - Kellett, Christopher M.
AU - Zaccarian, Luca
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85082439483&partnerID=8YFLogxK
U2 - 10.1109/CDC40024.2019.9029208
DO - 10.1109/CDC40024.2019.9029208
M3 - Conference contribution
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8154
EP - 8159
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 11 December 2019 through 13 December 2019
ER -