Case studies on passivity-based stabilisation of closed sets |
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Authors: | Mohamed I El-Hawwary |
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Affiliation: | Department of Electrical and Computer Engineering , University of Toronto , Toronto, Ontario, M5S 3G4, Canada |
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Abstract: | We present a novel control design procedure for the passivity-based stabilisation of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilisation. The procedure is illustrated in four case studies of path following coordination for one or two kinematic unicycles, and variations of these problems. Among other things, we present a smooth global path following controller making the unicycle converge to an arbitrary closed and strictly convex curve, and a coordinated path following controller for two unicycles. |
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Keywords: | set stabilisation passivity-based control design examples |
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