NDLI: Trajectory-based controller design for hybrid systems with affine continuous dynamics

Content Provider	IEEE Xplore Digital Library
Author	Julius, A.A.
Copyright Year	2010
Description	Author affiliation: Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180, USA (Julius, A.A.)
Abstract	In this paper we propose a method for feedback controller synthesis using the concept of control autobisimulation function. Control autobisimulation function (CAF) is the analog of control Lyapunov function for approximate bisimulation. Approximate bisimulation has been used to establish robustness (in ℓ sense) of execution trajectories of dynamical systems and hybrid systems, resulting in trajectory-based safety verification procedures. CAF is used to characterize the family of all feedback control laws that result in a close loop system with an autobisimulation function. Further, we use a heuristic potential function based idea to construct a safe feedback control law for a nominal initial state, and use the trajectory-robustness property to guarantee that the control law is also safe for other initial states in a neighborhood of the nominal initial state.
Starting Page	1007
Ending Page	1012
File Size	1239377
Page Count	6
File Format	PDF
ISBN	9781424454471
e-ISBN	9781424454495
DOI	10.1109/COASE.2010.5584752
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-21
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Feedback control Robustness Safety Closed loop systems Lyapunov method Approximation methods controller synthesis hybrid system trajectory based
Content Type	Text
Resource Type	Article

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