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Pré-Publication, Document De Travail Année : 2018

Explicit construction of robust avoidance controllers for linear systems

Philipp Braun
  • Fonction : Auteur
Christopher M. Kellett
  • Fonction : Auteur
Luca Zaccarian

Résumé

Due to the need for discontinuous feedback laws, control design for dynamical systems subject to bounded state constraints is particularly challenging and has not been addressed rigorously in the literature. As a step in this direction we propose a constructive design method for linear systems, guaranteeing robust global asymptotic stability of the origin of the closed-loop system, as well as robust obstacle avoidance. Here, obstacles are described through neighborhoods of isolated points in the state space. To obtain discontinuous input actions, the setting is embedded and solved in the framework of hybrid systems. The constructive controller design methodology, as well as the closed-loop properties, are investigated via numerical examples.
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Dates et versions

hal-01893027 , version 1 (11-10-2018)

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  • HAL Id : hal-01893027 , version 1

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Philipp Braun, Christopher M. Kellett, Luca Zaccarian. Explicit construction of robust avoidance controllers for linear systems. 2018. ⟨hal-01893027⟩
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