Title :
Multigoal output regulation via supervisory control: Application to stabilization of a unicycle
Author :
Efimov, Denis ; Loría, Antonio ; Panteley, Elena
Author_Institution :
Dept. of Electr. Engg & Comp. Sc., Univ. de Liege, Liege, Belgium
Abstract :
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).
Keywords :
asymptotic stability; nonlinear control systems; tracking; asymptotic stability; mechanical system tracking control; multigoal output regulation; nonlinear systems; obstacle-collision avoidance; robust output regulation; steady-state error; supervisory control; Asymptotic stability; Concrete; Control systems; Error correction; Nonlinear control systems; Nonlinear systems; Robots; Robust control; Steady-state; Supervisory control;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5159907