Avoiding local minima in the potential field method using input-to-state stability

Guerra, G; Efimov, Denis; Zheng, Gang; Perruquetti, Wilfrid

Type de document :

Article dans une revue scientifique: Article original

DOI :

10.1016/j.conengprac.2016.07.008

Titre :

Avoiding local minima in the potential field method using input-to-state stability

Auteur(s) :

Guerra, G [Auteur]
ONERA - The French Aerospace Lab [Toulouse]
Efimov, Denis [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A]
Zheng, Gang [Auteur]

Non-Asymptotic estimation for online systems [NON-A]
Perruquetti, Wilfrid [Auteur]

Centrale Lille
Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

Titre de la revue :

Control Engineering Practice

Pagination :

174 - 184

Éditeur :

Elsevier

Date de publication :

2016

ISSN :

0967-0661

Discipline(s) HAL :

Engineering Sciences [physics]/Automatic

Résumé en anglais : [en]

Supported by a novel field definition and recent control theory results, a new method to avoid local minima is proposed. It is formally shown that the system has an attracting equilibrium at the target point, repelling ...
Lire la suite >Supported by a novel field definition and recent control theory results, a new method to avoid local minima is proposed. It is formally shown that the system has an attracting equilibrium at the target point, repelling equilibriums in the obstacles centers and saddle points on the borders. Those unstable equilibriums are avoided capitalizing on the established Input-to-State Stability (ISS) property of this multistable system. The proposed modification of the PF method is shown to be effective by simulation for a two variables integrator and then applied to an unicycle-like wheeled mobile robots which is subject to additive input disturbances.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

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