2,523 research outputs found

    On feedback stabilization of linear switched systems via switching signal control

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    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 x(t)x(t) 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

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    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
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