Proceedings Article10.23919/ACC.2019.8814661
Adaptive Backstepping of Synergistic Hybrid Feedbacks with Application to Obstacle Avoidance
Pedro Casau,Ricardo G. Sanfelice,Carlos Silvestre +2 more
- 10 Jul 2019
- pp 1730-1735
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TL;DR: The hybrid controller induced by a Synergistic Lyapunov Function and Feedback 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.
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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.
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Citations
Synergistic control barrier functions with application to obstacle avoidance for nonholonomic vehicles
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TL;DR: In this article, a synergistic CBF for obstacle avoidance for nonholonomic vehicles is constructed by shifting the orientations with vanishing control authority, where a logic variable is used to determine the preferred direction.
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Guiding Vector Fields for Following Occluded Paths
TL;DR: In this paper , a composite guiding vector field via the use of smooth bump functions is developed and theoretical guarantees that the integral curves of the vector field can follow an arbitrary sufficiently smooth desired path and avoid collision with obstacles of arbitrary shapes.
Guiding Vector Fields for Following Occluded Paths
TL;DR: In this paper , the authors developed a composite guiding vector field via the use of smooth bump functions and provided theoretical guarantees that the integral curves of the vector field can follow an arbitrary sufficiently smooth desired path and avoid collision with obstacles of arbitrary shapes.
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Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties
Erlend A. Basso,Henrik M. Schmidt-Didlaukies,Kristin Y. Pettersen,Asgeir J. Sørensen +3 more
- 25 May 2021
TL;DR: In this article, a hybrid adaptive feedback control law for global asymptotic tracking control for marine surface vehicles in the presence of parametric uncertainties is proposed, which employs a hysteretic switching mechanism that is independent of the vehicle velocities.
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