Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points

Publication Type:

E. Conference Papers

Source:

Proc. 25th American Control Conference, p.3352–3357 (2006)

URL:

https://hybrid.soe.ucsc.edu/files/preprints/7.pdf

Keywords:

hybrid systems

Abstract:

We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings.
Preprint attachment: 
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