Robust Source-Seeking Hybrid Controllers for Autonomous Vehicles
- 1 July 2007
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in American Control Conference (ACC)
- No. 07431619,p. 1185-1190
- https://doi.org/10.1109/acc.2007.4283016
Abstract
We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.Keywords
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