| Autor: |
Berkane, Soulaimane, Bisoffi, Andrea, Dimarogonas, Dimos V. |
| Rok vydání: |
2021 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| DOI: |
10.1109/TAC.2021.3086329 |
| Popis: |
In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees both global asymptotic stabilization to a reference and avoidance of the obstacles. The intuitive idea of the proposed hybrid feedback is to switch between two modes of control: stabilization and avoidance. The geometric construction of the flow and jump sets of the proposed hybrid controller, exploiting hysteresis regions, guarantees Zeno-free switching between the stabilization and the avoidance modes. Simulation results illustrate the performance of the proposed hybrid control approach for 2-dimensional and 3-dimensional scenarios. |
| Databáze: |
arXiv |
| Externí odkaz: |
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