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A hybrid controller for obstacle avoidance in an n-dimensional euclidean space
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-5495-4481
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2019 (English)In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 764-769, article id 8795713Conference paper, Published paper (Refereed)
Abstract [en]

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 764-769, article id 8795713
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262640DOI: 10.23919/ECC.2019.8795713ISI: 000490488300123Scopus ID: 2-s2.0-85071591878ISBN: 9783907144008 (print)OAI: oai:DiVA.org:kth-262640DiVA, id: diva2:1361842
Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019
Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-11-14Bibliographically approved

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Berkane, SoulaimaneBisoffi, AndreaDimarogonas, Dimos V.

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CiteExportLink to record
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Output format
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