2,523 research outputs found
On feedback stabilization of linear switched systems via switching signal control
Motivated by recent applications in control theory, we study the feedback
stabilizability of switched systems, where one is allowed to chose the
switching signal as a function of in order to stabilize the system. We
propose new algorithms and analyze several mathematical features of the problem
which were unnoticed up to now, to our knowledge. We prove complexity results,
(in-)equivalence between various notions of stabilizability, existence of
Lyapunov functions, and provide a case study for a paradigmatic example
introduced by Stanford and Urbano.Comment: 19 pages, 3 figure
Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing
A decentralized switched controller is developed for dynamic agents to
perform global formation configuration convergence while maintaining network
connectivity and avoiding collision within agents and between stationary
obstacles, using only local feedback under limited and intermittent sensing.
Due to the intermittent sensing, constant position feedback may not be
available for agents all the time. Intermittent sensing can also lead to a
disconnected network or collisions between agents. Using a navigation function
framework, a decentralized switched controller is developed to navigate the
agents to the desired positions while ensuring network maintenance and
collision avoidance.Comment: 8 pages, 2 figures, submitted to ACC 201
- …