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

Publication Type:

E. Conference Papers


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



hybrid systems


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: 
PDF icon 7.pdf508.34 KB