Title :
Robust Source-Seeking Hybrid Controllers for Autonomous Vehicles
Author :
Mayhew, Christopher G. ; Sanfelice, Ricardo G. ; Teel, Andrew R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of California, Santa Barbara, CA
Abstract :
We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.
Keywords :
closed loop systems; mobile robots; position control; remotely operated vehicles; robust control; steering systems; autonomous vehicles steering; closed-loop hybrid system; point-mass vehicle; radiation intensity; robust source-seeking hybrid controllers; Control systems; Convergence; Minimization methods; Mobile robots; Position measurement; Remotely operated vehicles; Robust control; Sea measurements; Stability; Temperature sensors;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283016