A Switched Systems Approach to Path Following With Intermittent State Feedback
Hsi‐Yuan Chen, Zachary I. Bell, Patryk Deptula, Warren E. Dixon · IEEE Transactions on Robotics · 2019
Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched system-based control method for uncertain nonlinear systems with temporary loss-of-state feedback. To compensate for intermittent feedback, an observer is used while state feedback is available to reduce the estimation error, and a predictor is utilized to propagate the estimates while state feedback is unavailable. Based on the resulting subsystems, maximum and minimum dwell time conditions are developed via a Lyapunov-based switched systems analysis to relax the constraint of maintaining constant feedback. Using the dwell time conditions, a switching trajectory is developed to enter and exit the feedback denied region in a manner that ensures that the overall switched system remains stable. A scheme for designing a switching trajectory with a smooth transition function is provided. Simulation and experimental results are presented to demonstrate the performance of control design.