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Unsafe Point Avoidance in Linear State Feedback

Title data

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

Official URL: Volltext

Project information

Project title:
Project's official titleProject's id
Activating Lyapunov-Based Feedback - Nonsmooth Control Lyapunov FunctionsDP160102138

Project financing: ARC (Australian Research Council)

Abstract in another language

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, working paper, discussion paper
Keywords: closed-loop stability of linear systems; hybrid systems; state constraints; obstacle avoidance
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
Result of work at the UBT: Yes
DDC Subjects: 500 Science > 510 Mathematics
Date Deposited: 03 Mar 2018 22:00
Last Modified: 18 Mar 2019 09:23
URI: https://eref.uni-bayreuth.de/id/eprint/42474