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

• 成果类型: Article
• 署名作者: Braun, Philipp; Kellett, Christopher M.; Zaccarian, Luca
• 署名单位: University of Newcastle; Australian National University; Centre National de la Recherche Scientifique (CNRS); Universite de Toulouse; University of Trento
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2986730
• 发表日期: 2021
• 页码: 595-610
• 关键词: Global asymptotic stability (GAS); hybrid systems; obstacle avoidance; robust controller design; state constraints

摘要

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.