@inbook {309, title = {Hybrid Control, Morse Theory and Ivan Kupka}, booktitle = {AIMS on Applied Mathematics}, volume = {12}, year = {2024}, pages = {135-152}, chapter = {6}, author = {R. Montgomery and R. G. Sanfelice} } @inbook {21, title = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation}, booktitle = {Analysis and Design of Nonlinear Control Systems}, year = {2008}, pages = {241-261}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {Hybrid systems: limit sets and zero dynamics with a view toward output regulation}, abstract = {

We present results on omega-limit sets and minimum phase zero dynamics for hybrid dynamical systems. Moreover, we give pointers to how these results may be useful in the future for solving the output regulation problem for hybrid systems. We highlight the main attributes of omega-limit sets and we show, under mild conditions, that they are asymptotically stable. We define a minimum phase notion in terms of omega-limit sets and establish an equivalent Lyapunov characterization. Then we study the feedback stabilization problem for a class of minimum phase, relative degree one hybrid systems. Finally, we discuss output regulation for this class of hybrid systems. We illustrate the concepts with examples throughout the paper.

}, keywords = {hybrid systems}, doi = {http://www.springer.com/west/home/generic/search/results?http://www.springerlink.com/content/r00r175353435104/fulltext.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/21.pdf}, author = {C. Cai and R. Goebel and R. G. Sanfelice and A. R. Teel}, editor = {A. Astolfi and L. Marconi and A. Astolfi and L. Marconi} } @article {312, title = {Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems}, journal = {IEEE Transactions on Automatic Control}, year = {2024}, month = {July}, pages = {1-8}, author = {A. Saoud and M. Maghenem and A. Loria and R. G. Sanfelice} } @article {270, title = {Robust Output Feedback Control Design in the Presence of Sporadic Measurements}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {6}, year = {2023}, month = {June}, pages = {3768-3775}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @article {262, title = {On the Converse Safety Problem for Differential Inclusions: Solutions, Regularity, and Time-Varying Barrier Functions}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {1}, year = {2023}, month = {January}, pages = {172-187}, author = {M. Maghenem and R. G. Sanfelice} } @article {273, title = {Certifying the LTL Formula p Until q in Hybrid Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {7}, year = {2022}, month = {September}, pages = {4451-4458}, keywords = {Automata, Control systems, Convergence, Dynamical systems, safety, Stability analysis, Time-domain analysis}, author = {H. Han and M. Maghenem and R. G. Sanfelice} } @article {260, title = {Necessary and Sufficient Conditions for the Nonincrease of Functions of Solutions to Constrained Differential Inclusions}, journal = {ESAIM: Control, Optimisation and Calculus of Variations}, volume = {28}, number = {13}, year = {2022}, month = {February}, author = {M. Maghenem and A. Melis and R. G. Sanfelice} } @article {261, title = {Robust Hybrid Supervisory Control for Spacecraft Close Proximity Missions}, journal = {Annual Reviews in Control}, volume = {52}, year = {2021}, month = {January}, pages = {316-329}, author = {B. P. Malladi and R. G. Sanfelice and E.A. Butcher} } @article {236, title = {Sufficient Conditions for Forward Invariance and Contractivity in Hybrid Inclusions using Barrier Functions}, journal = {Automatica}, volume = {124}, year = {2021}, month = {February}, author = {M. Maghenem and R. G. Sanfelice} } @article {219, title = {Rigid Body Pose Hybrid Control Using Dual Quaternions: Global Asymptotic Stabilization and Robustness}, journal = {Journal of Guidance, Control, and Dynamics}, volume = {43}, number = {9}, year = {2020}, month = {July}, author = {B. P. Malladi and E.A. Butcher and R. G. Sanfelice} } @article {210, title = {Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors}, journal = {Automatica}, volume = {110}, year = {2019}, month = {December}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @article {152, title = {Robust Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Inner-Outer Loop Control Paradigms}, journal = {IEEE Transactions on Automatic Control}, volume = {62}, number = {1}, year = {2017}, month = {January}, pages = {97-112}, chapter = {97}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} } @article {68, title = {On Path-Lifting Mechanisms and Unwinding in Quaternion-based Attitude Control}, journal = {IEEE Transactions on Automatic Control}, volume = {58}, number = {5}, year = {2013}, month = {May}, pages = {1179{\textendash}1191}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6389715}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @article {58, title = {Quaternion-Based Hybrid Feedback for Robust Global Attitude Synchronization}, journal = {IEEE Transactions on Automatic Control}, volume = {57}, number = {8}, year = {2012}, month = {August}, pages = {2122{\textendash}2127}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6111242}, url = {https://hybrid.soe.ucsc.edu/files/preprints/58.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and J. Sheng and M. Arcak and A. R. Teel} } @article {50, title = {Quaternion-Based Hybrid Controller for Robust Global Attitude Tracking}, journal = {IEEE Transactions on Automatic Control}, volume = {56}, number = {11}, year = {2011}, month = {November}, pages = {2555{\textendash}2566}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5701762}, url = {https://hybrid.soe.ucsc.edu/files/preprints/50.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {329, title = {Inverse-Optimal Safety Control for Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2025}, month = {May}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @conference {305, title = {A Data-Driven Approach for Certifying Asymptotic Stability and Cost Evaluation for Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2024}, month = {May}, pages = {1{\textendash}10}, author = {C. A. Montenegro and S. Jimenez and R. G. Sanfelice} } @conference {283, title = {Provable Adversarial Safety in Cyber-Physical Systems}, booktitle = {Proceedings of the 8th IEEE European Symposium on Security and Privacy (EuroS\&P)}, year = {2023}, month = {July}, pages = {979-1012}, author = {J.H. Castellanos and M. Maghenem and A. Cardenas and R.G. Sanfelice and J. Zhou} } @conference {242, title = {A Hybrid Gradient Algorithm for Linear Regression with Hybrid Signals}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {4997-5002}, author = {A. Saoud and M. Maghenem and R. G. Sanfelice} } @conference {240, title = {Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {2418-2423}, author = {M. Maghenem and A. Taylor and A. D. Ames and R. G. Sanfelice} } @conference {238, title = {Self-Triggered Control to Guarantee Forward Pre-Invariance with Uniformly Positive Inter-Event Times}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {2278-2283}, author = {D. Kooi and M. Maghenem and R. G. Sanfelice} } @conference {229, title = {LMI-Based Output Feedback Control Design in the Presence of Sporadic Measurements}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {3331-3336}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @conference {227, title = {Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1037-1042}, author = {H. Gao and M. Maghenem and R. G. Sanfelice} } @conference {226, title = {Regularity Properties of Reachability Maps for Hybrid Dynamical Systems with Applications to Safety}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {1031-1036}, author = {M. Maghenem and B. Altin and R. G. Sanfelice} } @conference {224, title = {Lipschitzness of Minimal-Time Functions in Constrained Continuous-Time Systems with Applications to Reachability Analysis}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {937-942}, author = {M. Maghenem and R. G. Sanfelice} } @conference {221, title = {A Hybrid Control Algorithm for Gradient-Free Optimization using Conjugate Directions}, booktitle = {Proceedings of the IFAC World Congress}, volume = {53}, number = {2}, year = {2020}, month = {July}, pages = {5825-5830}, author = {A. Melis and R. G. Sanfelice and L. Marconi} } @conference {215, title = {Sufficient Conditions for Satisfaction of Formulas with Until Operators in Hybrid Systems}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {8}, year = {2020}, month = {April}, pages = {1-10}, author = {H. Han and M. Maghenem and R. G. Sanfelice} } @conference {214, title = {Local Lipschitzness of Reachability Maps for Hybrid Systems with Applications to Safety}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, number = {21}, year = {2020}, month = {April}, pages = {1-11}, author = {M. Maghenem and R. G. Sanfelice} } @conference {207, title = {Monotonicity Along Solutions to Constrained Differential Inclusions}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {7228 - 7233}, author = {M. Maghenem and A. Melis and R. G. Sanfelice} } @conference {206, title = {Multiple Barrier Function Certificates for Weak Forward Invariance in Hybrid Inclusions}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {6319-6324}, author = {M. Maghenem and R. G. Sanfelice} } @conference {202, title = {A Hybrid Control Strategy for Autonomous Navigation While Avoiding Multiple Obstacles at Unknown Locations}, booktitle = {Proceedings of the IEEE 15th International Conference on Automation Science and Engineering (CASE)}, year = {2019}, month = {August}, pages = {1042-1047}, author = {V. Muthukumaran and R. G. Sanfelice and G. Elkaim} } @conference {199, title = {Characterizations of Safety in Hybrid Inclusions via Barrier Functions}, booktitle = {Proceedings of the Conference on Hybrid Systems: Computation and Control}, year = {2019}, month = {July}, pages = {109{\textendash}118}, author = {M. Maghenem and R. G. Sanfelice} } @conference {198, title = {Characterization of Safety and Conditional Invariance for Nonlinear Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {5039-5044}, author = {M. Maghenem and R. G. Sanfelice} } @conference {197, title = {Multiple barrier function certificates for forward invariance in hybrid inclusions}, booktitle = {Proceedings of the American Control Conference}, year = {2019}, month = {July}, pages = {2346-2351}, author = {M. Maghenem and R. G. Sanfelice} } @conference {183, title = {Barrier Function Certificates for Forward Invariance in Hybrid Inclusions}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {759-764}, author = {M. Maghenem and R. G. Sanfelice} } @conference {175, title = {Robust Hybrid Global Asymptotic Stabilization of Rigid Body Dynamics using Dual Quaternions}, booktitle = {2018 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2018}, month = {01/2018}, pages = {1-10}, author = {B. P. Malladi and E. Butcher and R. G. Sanfelice} } @conference {174, title = {Robust Hybrid Supervisory Control for a 3-DOF Spacecraft in Close-Proximity Operations}, booktitle = {Networked \& Autonomous Air \& Space Systems}, year = {2018}, month = {06/2018}, pages = {88-93}, author = {G. Zucchini and B. P. Malladi and R. G. Sanfelice and E. Butcher} } @conference {173, title = {Hybrid Control for Autonomous Spacecraft Rendezvous Proximity Operations and Docking}, booktitle = {IFAC Workshop on Networked \& Autonomous Air \& Space Systems (NAASS)}, year = {2018}, month = {June}, pages = {94-99}, author = {J. R. Crane and C. W. T. Roscoe and B. P. Malladi and G. Zucchini and E. Butcher and R. G. Sanfelice and I. Hussein} } @conference {169, title = {Robust Hybrid Kalman Filter for a Class of Nonlinear Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {628-633}, author = {B. P. Malladi and R. G. Sanfelice and E. Butcher} } @conference {142, title = {Robust Hybrid Supervisory Control for Rendezvous and Docking of a Spacecraft}, booktitle = {In Proceedings of the Conference on Decision and Control}, year = {2016}, month = {December}, pages = {3325-3330}, author = {B. P. Malladi and R. G. Sanfelice and E. Butcher and J. Wang} } @conference {133, title = {Exponential Stabilization of a Vectored-Thrust Vehicle Using Synergistic Potential Functions}, booktitle = {Proceedings of American Control Conference}, year = {2016}, pages = {6042--6047}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @conference {115, title = {An Open-Source Architecture for Control and Coordination of a Swarm of Micro-Quadrotors}, booktitle = {Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS)}, series = {NULL}, year = {2015}, month = {June}, pages = {139--146}, author = {M. Furci and G. Casadei and R. Naldi and R. G. Sanfelice and L. Marconi} } @conference {107, title = {Global Exponential Stabilization on the $n$-Dimensional Sphere}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2015}, month = {June}, pages = {3218--3223}, keywords = {attitude control, hybrid systems}, author = {P. Casau and C. G. Mayhew and R. G. Sanfelice and C. Silvestre} } @conference {81, title = {Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Cascade Control Paradigms}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {4212{\textendash}4217}, keywords = {attitude control}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} } @conference {54, title = {Further results on synergistic {L}yapunov functions and hybrid feedback design through backstepping}, booktitle = {Proc. Joint Conference on Decision and Control and European Control Conference}, series = {NULL}, year = {2011}, pages = {7428{\textendash}7433}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6161283}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {49, title = {Synergistic {L}yapunov functions and backstepping hybrid feedbacks}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {3203{\textendash}3208}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991021}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {48, title = {On the Non-Robustness of Memoryless Path-Lifting Schemes for Quaternion-Based Attitude Control}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {1003{\textendash}1008}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991359}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {47, title = {On Quaternion-Based Attitude Control and the Unwinding Phenomenon}, booktitle = {Proc. 30th American Control Conference}, series = {NULL}, year = {2011}, pages = {299{\textendash}304}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5991127}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {41, title = {Robust Global Asymptotic Attitude Synchronization by Hybrid Control}, booktitle = {Proc. 29th American Control Conference}, series = {NULL}, year = {2010}, pages = {3666{\textendash}3671}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=5530428}, author = {C. G. Mayhew and R. G. Sanfelice and M. Arcak and A. R. Teel} } @conference {38, title = {Robust Global Asymptotic Attitude Stabilization of a Rigid Body by Quaternion-based Hybrid Feedback}, booktitle = {Proc. 46th Conference on Decision and Control}, series = {NULL}, year = {2009}, pages = {2522{\textendash}2527}, abstract = {Global asymptotic stabilization of the attitude of a rigid body is made difficult by several topological obstructions. In fact, this task is impossible to accomplish with discontinuous state feedback. Moreover, when the attitude is parameterized with unit quaternions, it becomes impossible to design a globally stabilizing state feedback (even discontinuous) that is robust to measurement noise. In this paper, we present a quaternion-based hysteretic hybrid feedback that robustly globally asymptotically stabilizes the attitude of a rigid body. The hybrid control laws are derived through Lyapunov analysis in kinematic and dynamic settings. In the dynamic setting, we provide two control laws: one derived from a simple Lyapunov function, and another based on backstepping. Analyzing the change in these Lyapunov functions due to jumps of the hysteretic logic variable yields a straightforward form for state-based hysteretic switching points. A simulation study demonstrates robustness to measurement noise in the proposed control laws and differences between the non-backstepping and backstepping control laws.}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400431}, url = {https://hybrid.soe.ucsc.edu/files/preprints/38.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {37, title = {Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body by Quaternion-based Hybrid Feedback}, booktitle = {Proc. 46th Conference on Decision and Control}, series = {NULL}, year = {2009}, pages = {1094{\textendash}1099}, abstract = {The problem of robust, global asymptotic stabilization of a rigid body is hampered by major topological obstructions. These obstructions prevent a continuous state feedback from solving the problem and also lead to robustness issues when discontinuous feedback is applied. In this paper, we extend a hybrid control strategy proposed in a companion paper for robust, global asymptotic stabilization of rigid body attitude to the case where translation is also considered. The quaternion-based hysteretic hybrid feedback laws are developed in the kinematic and dynamic settings. In the dynamic setting, two control laws are derived, one of which is based on backstepping. Robustness to measurement noise is asserted by employing recently developed stability theory for hybrid systems. The hybrid feedback is found to have desirable robustness properties.}, keywords = {attitude control}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400338}, url = {https://hybrid.soe.ucsc.edu/files/preprints/37.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {30, title = {Robust hybrid source-seeking algorithms based on directional derivatives and their approximations}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, series = {NULL}, year = {2008}, pages = {1735{\textendash}1740}, abstract = {A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semiglobal practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller ?tting into this family is developed and demonstrated by simulation and experiment.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739392\&isnumber=4738560}, url = {https://hybrid.soe.ucsc.edu/files/preprints/30.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {24, title = {Robust source-seeking hybrid controllers for nonholonomic vehicles}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {2722{\textendash}2727}, abstract = {We consider the problem of steering a nonholonomic vehicle to the source of a radiation-like signal with only measurements of the signal. We propose a general control strategy for vehicle steering which is based on an optimization algorithm for minimization of nonlinear functions without gradient information. We state the main properties of the strategy and specialize it to the control of nonholonomic vehicles. We discuss its implementation in a hybrid controller which coordinates vehicle steering and logic elements. We present global convergence and stability results for the closed-loop system. We also discuss two possible modifications to our algorithm that improve its performance when applied to real-world environments.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586904\&isnumber=4586444}, url = {https://hybrid.soe.ucsc.edu/files/preprints/24.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {19, title = {Hybrid {MPC}: Open-minded but not Easily Swayed}, booktitle = {Assessment and Future Directions of Nonlinear Model Predictive Control}, series = {NULL}, volume = {Lecture Notes in Control and Information Sciences 358}, year = {2007}, pages = {17{\textendash}34}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, chapter = {Hybrid {MPC}: Open-minded but not Easily Swayed}, abstract = {The robustness of asymptotic stability with respect to measurement noise for discrete-time feedback control systems is discussed. It is observed that, when attempting to achieve obstacle avoidance or regulation to a disconnected set of points for a continuous-time system using sample and hold state feedback, the noise robustness margin necessarily vanishes with the sampling period. With this in mind, we propose two modifications to standard model predictive control (MPC) to enhance robustness to measurement noise. The modifications involve the addition of dynamical states that make large jumps. Thus, they have a hybrid flavor. The proposed algorithms are well suited for situations where control algorithms must respond quickly to large changes in operating conditions but not be easily confused by moderately large measurement noise and similar disturbances.}, keywords = {hybrid systems}, doi = {http://www.springerlink.com/content/22236583418rr285/fulltext.pdf}, url = {https://hybrid.soe.ucsc.edu/files/preprints/19.pdf}, author = {S. E. Tuna and R. G. Sanfelice and M. J. Messina and A. R. Teel} } @conference {13, title = {A hybrid control strategy for robust contact detection and force regulation}, booktitle = {Proc. 26th American Control Conference}, series = {NULL}, year = {2007}, pages = {1461{\textendash}1466}, abstract = {We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/4282134/4282135/04283119.pdf?tp=\&isnumber=4282135\&arnumber=4283119\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4282134\%3C/font\%3E\%3C/b\%3E}, url = {https://hybrid.soe.ucsc.edu/files/preprints/13.pdf}, author = {R. Carloni and R. G. Sanfelice and A. R. Teel and C. Melchiorri} } @conference {12, title = {Robust source seeking hybrid controllers for autonomous vehicles}, booktitle = {Proc. 26th American Control Conference}, series = {NULL}, year = {2007}, pages = {1185{\textendash}1190}, abstract = {

We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.

}, keywords = {hybrid systems}, doi = {http://www.scivee.tv/node/2725,http\://ieeexplore.ieee.org/iel5/4282134/4282135/04283016.pdf?tp=\&isnumber=4282135\&arnumber=4283016\&punumber=\%3Cb\%3E\%3Cfont\%20color=990000\%3E4282134\%3C/font\%3E\%3C/b\%3E}, url = {https://hybrid.soe.ucsc.edu/files/preprints/12.pdf}, author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel} } @conference {7, title = {Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points}, booktitle = {Proc. 25th American Control Conference}, series = {NULL}, year = {2006}, pages = {3352{\textendash}3357}, 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.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/11005/34689/01657236.pdf?tp=\&isnumber=\&arnumber=1657236}, url = {https://hybrid.soe.ucsc.edu/files/preprints/7.pdf}, author = {R. G. Sanfelice and M. J. Messina and S. E. Tuna and A. R. Teel} }