Lyapunov based dynamic controller designs for reach-and-avoid problems
Systems and Control
2024-12-02 v1 Systems and Control
Dynamical Systems
Optimization and Control
Abstract
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The control law for the virtual dynamics is combined with a feedback controller for the dynamics of interest, where Lyapunov arguments and forward invariance are used to ensure that the state of the system remains in a vicinity of the path. To allow for discrete decisions in the avoidance controller design, the closed-loop dynamics are formulated using the hybrid systems framework. The results are illustrated by a numerical example for unicycle dynamics.
Cite
@article{arxiv.2411.19607,
title = {Lyapunov based dynamic controller designs for reach-and-avoid problems},
author = {Lukas Lanza and Philipp Braun},
journal= {arXiv preprint arXiv:2411.19607},
year = {2024}
}