Article (Scientific journals)
Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a Unicycle.
Efimov, Denis; Panteley, Elena; Loria, Antonio
2009In Proc. American Control Conference, St. Louis
Peer reviewed
 

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Keywords :
supervisory control; output feedback
Abstract :
[en] We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating an steady-state error on the second output. In other words, we are interested in input-output (asymptotic) stability for one output and practical (asymptotic) stability for the second. Upon the assumption that we dispose of two controllers each of which achieves separately a control objective (for either output) we propose a switching rule to commute between the two controllers appropriately i.e., conserving the input-output stability, to some extent. The problem studied is reminiscent of different concrete situations such as simultaneaous synchronization and tracking control of mechanical systems; in this article we revisit the problem of stabilizing a unicycle (regulation of the first output) towards a point while ensuring obstacle-collision avoidance (practical stabilization of the second output).
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Efimov, Denis ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Panteley, Elena;  SUPELEC > LSS
Loria, Antonio;  SUPELEC > LSS
Language :
English
Title :
Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a Unicycle.
Publication date :
June 2009
Journal title :
Proc. American Control Conference, St. Louis
Peer reviewed :
Peer reviewed
Available on ORBi :
since 12 June 2009

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