Robust Synergistic Hybrid Feedback

Synergistic hybrid feedback refers to a collection of feedback laws that allow for the global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic variable, whenever the currently selected Lyapunov funct...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2024-12, Vol.69 (12), p.8555-8570
Main Authors: Casau, Pedro, Sanfelice, Ricardo G., Silvestre, Carlos
Format: Article
Language:English
Subjects:
Adaptive control
Asymptotic properties
Closed loop systems
Collection
Collision avoidance
Control systems design
Feedback
hybrid systems
Liapunov functions
Logic
Obstacle avoidance
robotics
Robots
Stabilization
Switches
uncertain systems
Uncertainty
Vectors
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Summary:Synergistic hybrid feedback refers to a collection of feedback laws that allow for the global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic variable, whenever the currently selected Lyapunov function exceeds the value of another function in the collection by a given margin, then a switch to the corresponding feedback law is triggered. This kind of feedback has been under development over the past decade, and it has led to multiple solutions for global asymptotic stabilization problems on compact manifolds. The contributions of this article include a synergistic controller design in which the logic variable is not necessarily constant between jumps, a synergistic hybrid feedback that is able to tackle the presence of parametric uncertainty, backstepping of adaptive synergistic hybrid feedback, and a demonstration of the proposed solutions to the problem of global obstacle avoidance.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3416194