Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points
Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points
复制标题
用于连续时间系统的鲁棒混合控制器，适用于避障和对断开点集的调节
DOI：
10.1109/acc.2006.1657236
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
A. Teel
中科院分区：
文献类型：
--
作者：
R. Sanfelice;M. J. Messina;S. E. Tuna;A. Teel
我们给出了一个初步的证明，对于连续时间系统，不可能使用(甚至不连续的)纯状态反馈来实现不连通点集的鲁棒全局渐近镇定或在避开障碍物的同时实现对目标的鲁棒全局调节。事实上，我们证明了任意小的、分段恒定的测量噪声可以使轨迹远离目标。我们给出了一种建设性的、基于Lyapunov的混合状态反馈，在上述设置下实现了稳健的调节
We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings