Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points
Submitted by ricardo on February 28, 2017 - 2:36pm
| Title | Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points |
| Publication Type | Conference Paper |
| Year of Publication | 2006 |
| Authors | Sanfelice R.G, Messina M.J, Tuna S.E, Teel A.R |
| Conference Name | Proc. 25th American Control Conference |
| Keywords | hybrid systems |
| Abstract | We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings. |
| URL | https://hybrid.soe.ucsc.edu/files/preprints/7.pdf |
| DOI |
