Robust source seeking hybrid controllers for autonomous vehicles
Submitted by ricardo on February 28, 2017 - 2:36pm
Title | Robust source seeking hybrid controllers for autonomous vehicles |
Publication Type | Conference Paper |
Year of Publication | 2007 |
Authors | Mayhew C.G, Sanfelice R.G, Teel A.R |
Conference Name | Proc. 26th American Control Conference |
Keywords | hybrid systems |
Abstract | We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations. |
URL | https://hybrid.soe.ucsc.edu/files/preprints/12.pdf |
DOI |