Article Dans Une Revue IEEE Control Systems Letters Année : 2024

Lyapunov-Based Avoidance Controllers With Stabilizing Feedback

Résumé

For control-affine nonlinear systems, we augment a predefined Lyapunov-based global stabilizer with a hybrid obstacle avoidance design preserving the Lyapunov decrease. While the method can be applied to the general class of control-affine systems, the size of the avoidance neighborhood is not a design parameter. Our design shows that a system can achieve global asymptotic stability with simultaneous unsafe set avoidance via hybrid feedback, which overcomes well-known issues of topological obstructions.

Dates et versions

hal-04776123 , version 1 (11-11-2024)

Identifiants

Citer

Riccardo Ballaben, Philipp Braun, Luca Zaccarian. Lyapunov-Based Avoidance Controllers With Stabilizing Feedback. IEEE Control Systems Letters, 2024, 8, pp.862-867. ⟨10.1109/LCSYS.2024.3404770⟩. ⟨hal-04776123⟩
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