Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points
Sanfelice, R.G.; Messina, M.J.; Emre Tuna, S.; Teel, A.R.
American Control Conference, 2006
Volume , Issue , 14-16 June 2006 Page(s):6 pp. -
Digital Object Identifier   10.1109/ACC.2006.1657236
Summary:We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings

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