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Unsafe Point Avoidance in Linear State Feedback

URN to cite this document: urn:nbn:de:bvb:703-epub-3584-9

Title data

Braun, Philipp ; Kellett, Christopher M. ; Zaccarian, Luca:
Unsafe Point Avoidance in Linear State Feedback.
Newcastle, Australia , 2018 . - 8 S.

Format:	PDF
Name:	pbraun_submission.pdf
Available under License	German copyright law. The document may be used free of charge for personal use. In addition, the reproduction, editing, distribution and any kind of exploitation require the written consent of the respective rights holder.

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Project information

Project title:	Project's official title Project's id Activating Lyapunov-Based Feedback - Nonsmooth Control Lyapunov Functions DP160102138
Project financing:	ARC (Australian Research Council)

Abstract

We propose a hybrid solution for the stabilization of the origin of a linear time-invariant stabilizable system with the property that a suitable neighborhood of a pre-defined unsafe point in the state space is avoided by the closed-loop solutions. Hybrid tools are motivated by the fact that the task at hand cannot be solved with continuous feedback, whereas the proposed hybrid solution induces nominal and robust asymptotic stability of the origin. More specifically, we formulate a semiglobal version of the problem at hand and describe a fully constructive approach under the assumption that the unsafe point to be avoided does not belong to the equilibrium subspace induced by the control input on the linear dynamics. The approach is illustrated on a numerical example.

Further data

Item Type:	Preprint, postprint
Keywords:	closed-loop stability of linear systems; hybrid systems; state constraints; obstacle avoidance
DDC Subjects:	500 Science > 510 Mathematics
Institutions of the University:	Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) Profile Fields Profile Fields > Advanced Fields Profile Fields > Advanced Fields > Nonlinear Dynamics
Language:	English
Originates at UBT:	Yes
URN:	urn:nbn:de:bvb:703-epub-3584-9
Date Deposited:	02 Mar 2018 09:50
Last Modified:	18 Mar 2019 09:22
URI:	https://epub.uni-bayreuth.de/id/eprint/3584

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