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Communication Dans Un Congrès Année : 2009

Multigoal output regulation via supervisory control: Application to stabilization of a unicycle

Denis Efimov
Elena Panteley
Antonio Loria

Résumé

We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating an steady-state error on the second output. In other words, we are interested in inputoutput (asymptotic) stability for one output and practical (asymptotic) stability for the second. Upon the assumption that we dispose of two controllers each of which achieves separately a control objective (for either output) we propose a switching rule to commute between the two controllers appropriately i.e., conserving the input-output stability, to some extent. The problem studied is reminiscent of different concrete situations such as simultaneaous synchronization and tracking control of mechanical systems; in this article we revisit the problem of stabilizing a unicycle (regulation of the first output) towards a point while ensuring obstacle-collision avoidance (practical stabilization of the second output).

Domaines

Automatique
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Dates et versions

hal-00447658 , version 1 (15-01-2010)

Identifiants

  • HAL Id : hal-00447658 , version 1

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Denis Efimov, Elena Panteley, Antonio Loria. Multigoal output regulation via supervisory control: Application to stabilization of a unicycle. American Control Conference, Jun 2009, St Louis Missouri, United States. pp.4340-4345. ⟨hal-00447658⟩
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