Reference : Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of ...
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Engineering, computing & technology : Multidisciplinary, general & others
Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a Unicycle.
Efimov, Denis mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Panteley, Elena [SUPELEC > LSS > > >]
Loria, Antonio [SUPELEC > LSS > > >]
Proc. American Control Conference, St. Louis
[en] supervisory control ; output feedback
[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).

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