A Switched Systems Approach to Path Following With Intermittent State Feedback

被引：22

作者：

Chen, Hsi-Yuan ^{[1
]}

Bell, Zachary I. ^{[1
]}

Deptula, Patryk ^{[1
]}

Dixon, Warren E. ^{[1
]}

机构：

[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2019年 / 35卷 / 03期

关键词：

Dwell time conditions; intermittent state feedback; observer; predictor; switched systems theory; VISUAL SERVO CONTROL; CONTROL SCHEME; MOBILE ROBOTS; IMAGE; STABILITY; TRACKING;

D O I：

10.1109/TRO.2019.2899269

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched system-based control method for uncertain nonlinear systems with temporary loss-of-state feedback. To compensate for intermittent feedback, an observer is used while state feedback is available to reduce the estimation error, and a predictor is utilized to propagate the estimates while state feedback is unavailable. Based on the resulting subsystems, maximum and minimum dwell time conditions are developed via a Lyapunov-based switched systems analysis to relax the constraint of maintaining constant feedback. Using the dwell time conditions, a switching trajectory is developed to enter and exit the feedback denied region in a manner that ensures that the overall switched system remains stable. A scheme for designing a switching trajectory with a smooth transition function is provided. Simulation and experimental results are presented to demonstrate the performance of control design.

引用

页码：725 / 733

页数：9

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