A hybrid controller for obstacle avoidance in an n-dimensional euclidean space

(creator_code:org_t)

Institute of Electrical and Electronics Engineers (IEEE), 2019
2019
Engelska.
Ingår i: 2019 18th European Control Conference, ECC 2019. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783907144008 ; , s. 764-769

Relaterad länk:: https://ecc19.eu/; visa fler...; https://ieeexplore.i...; https://urn.kb.se/re...; https://doi.org/10.2...; visa färre...

Abstract Ämnesord

Stäng

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

Av författaren/redakt...: Berkane, Soulaim ...; Bisoffi, Andrea; Dimarogonas, Dim ...

Om ämnet

TEKNIK OCH TEKNOLOGIER: TEKNIK OCH TEKNO ...; och Elektroteknik oc ...; och Reglerteknik

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