Hybrid control of planar rotations

We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due to topological obstructions. The hybrid control structure relies on hysteretically s...

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Bibliographic Details
Main Authors: Mayhew, C G, Teel, A R
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic stability
Control systems
Feedback
Hysteresis
Lyapunov method
Mobile robots
Noise measurement
Noise robustness
Robust control
Robust stability
Online Access:Request full text
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Description
Summary:We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due to topological obstructions. The hybrid control structure relies on hysteretically switching between (almost globally) stabilizing control laws which are generated by a family of diffeomorphisms that stretch the space of planar rotations onto itself. A salient feature of the proposed control technique is that it can produce a robustly globally asymptotically stabilizing controller from an existing control law and a corresponding Lyapunov function.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2010.5531244