Lyapunov-Based Avoidance Controllers With Stabilizing Feedback
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DOI: 10.1109/lcsys.2024.3404770
Abstract: For control-affine nonlinear systems, we augment a predefined Lyapunov-based global stabilizer with a hybrid obstacle avoidance design preserving the Lyapunov decrease. While the method can be applied to the general class of control-affine systems, the… read more here.
Keywords: lyapunov based; avoidance controllers; avoidance; controllers stabilizing ... See more keywords