• CARMA SEMINAR
  • Speaker: Dr Philipp Braun, School of Electrical Engineering and Computer Science, The University of Newcastle
  • Title: Obstacle avoidance controller design
  • Location: Room V205, Mathematics Building (Callaghan Campus) The University of Newcastle
  • Time and Date: 4:00 pm, Thu, 22nd Mar 2018
  • Abstract:

    Constructive methods for the controller design for dynamical systems subject to bounded state constraints have only been investigated by a limited number of researchers. The construction of robust control laws is significantly more difficult compared to unconstrained problems due to the necessity of discontinuous feedback laws. A rigorous understanding of the problem is however important in obstacle or collision avoidance for mobile robots, for example. In this talk we present preliminary results on the controller design for obstacle avoidance of linear systems based on the notation of hybrid systems. In particular, we derive a discontinuous feedback law, globally stabilizing the origin while avoiding a neighborhood around an obstacle. In this context, additionally an explicit bound on the maximal size of the obstacle is provided.

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  • CARMA SEMINAR
  • Speaker: Dr Philipp Braun, School of Electrical Engineering and Computer Science, The University of Newcastle
  • Title: (Nonsmooth) Control Lyapunov Functions: Stabilization and Destabilization of Nonlinear Systems
  • Location: Room V205, Mathematics Building (Callaghan Campus) The University of Newcastle
  • Time and Date: 4:00 pm, Tue, 23rd May 2017
  • Abstract:

    Control Lyapunov functions (CLFs) for the control of dynamical systems have faded from the spotlight over the last years even though their full potential has not been explored yet. To reactivate research on CLFs we review existing results on Lyapunov functions and (nonsmooth) CLFs in the context of stability and stabilization of nonlinear dynamical systems. Moreover, we highlight open problems and results on CLFs for destabilization. The talk concludes with ideas on Complete CLFs, which combine the concepts of stability and instability. The results presented in the talk are illustrated and motivated on the examples of a nonholonomic integrator and Artstein's circles.

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