Title :
Weak Input-to-State Stability Properties for Navigation Function Based Controllers
Author :
Loizou, Savvas G. ; Kumar, Vijay
Author_Institution :
GRASP Lab., Pennsylvania Univ.
Abstract :
Due to topological constraints, navigation functions, are not, except from trivial cases, equivalent to quadratic Lyapunov functions, hence systems based on navigation functions cannot directly accept an input-to-state stability (ISS) characterization. However a relaxed version of input-to-state stability, namely almost global ISS (aISS), is shown to be applicable. The proposed framework provides compositional capability for navigation function based systems. Cascade as well as feedback interconnections of aISS navigation systems are shown to also possess the aISS property under certain assumptions on the interconnections. Several simulated examples of navigation systems are presented to demonstrate the effectiveness of the proposed scheme
Keywords :
Lyapunov methods; cascade control; feedback; interconnected systems; navigation; path planning; stability; feedback interconnection; input-to-state stability; navigation function based controllers; quadratic Lyapunov functions; topological constraints; Asymptotic stability; Control systems; Feedback loop; Humans; Laboratories; Lyapunov method; Navigation; Noise measurement; Robots; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377765