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Adaptive backstepping of synergistic hybrid feedbacks with application to obstacle avoidance
Pedro Casau1,2; Ricardo G. Sanfelice3; Carlos Silvestre1
2019-08-29
Conference NameAmerican Control Conference (ACC)
Source PublicationProceedings of the American Control Conference
Volume2019-July
Pages1730-1735
Conference Date10-12 July 2019
Conference PlacePhiladelphia, PA, USA
Abstract

In this paper, we show that the hybrid controller that is induced by a Synergistic Lyapunov Function and Feedback (SLFF) pair relative to a compact set, can be extended to the case where the original affine control system is subject to a class of additive disturbances known as matched uncertainties, provided that the estimator dynamics do not add new equilibria to the closed-loop system. We also show that the proposed adaptive hybrid controller is amenable to backstepping. Finally, we apply the proposed hybrid control strategy to the problem of global asymptotic stabilization of a compact set in the presence of an obstacle and we illustrate this application by means of simulation results.

DOI10.23919/acc.2019.8814661
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000589452901122
Scopus ID2-s2.0-85072286799
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Department of Electrical and Computer Engineering,Faculty of Science and Technology,University of Macau,Macao
2.Institute for Systems and Robotics (ISR),Instituto Superior Técnico,Universidade de Lisboa,Lisboa,Portugal
3.Department of Electrical and Computer Engineering,University of California,Santa Cruz,95064,United States
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Pedro Casau,Ricardo G. Sanfelice,Carlos Silvestre. Adaptive backstepping of synergistic hybrid feedbacks with application to obstacle avoidance[C],2019:1730-1735.
APA Pedro Casau,Ricardo G. Sanfelice,&Carlos Silvestre.(2019).Adaptive backstepping of synergistic hybrid feedbacks with application to obstacle avoidance.Proceedings of the American Control Conference,2019-July,1730-1735.
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