Paper Info
Title
A Switched Systems Approach To Unknown Environment Exploration With Intermittent State Feedback For Nonholonomic Systems
Abstract
A method is provided to enable a nonholonomic vehicle to explore an unknown environment with intermittent state feedback. A maximum dwell-time condition is determined via a Lyapunov-based switched systems approach to maintain overall system stability despite the intermittent loss of state feedback and the presence of external disturbances. A minimum dwell-time condition is determined via a Lyapunov-based switched systems approach to ensure the tracking error converges within a desired neighborhood of the desired trajectory. Utilizing the proposed maximum and minimum dwell-time conditions, a nonholonomic vehicle's tracking error remains globally uniformly ultimately bounded, enabling the exploration of the feedback-denied region for a predetermined period of time, before acquiring state feedback.
Year
DOI
Venue
2020
10.23919/ACC45564.2020.9147349
2020 AMERICAN CONTROL CONFERENCE (ACC)
DocType
ISSN
Citations 
Conference
0743-1619
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Runhan Sun111.71
Zachary I. Bell200.68
Federico M. Zegers313.06
Warren E. Dixon41757149.42