Abstract
This letter provides a new tool for verifying behavior of path-following controllers. Use of this tool involves evaluating the monotonicity of the controller with respect to the state. The resulting verification process is simpler than Lyapunov-based methods. Moreover, the evaluation may be performed directly using observation data, without relying on a dynamics or sensor model to be learned. This verification is therefore practical in the context of data-driven control and feedback from information-rich sensors. Knowledge of dynamics or sensor models permits offline verification and design, as shown in several examples.
Original language | English |
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Pages (from-to) | 406-411 |
Number of pages | 6 |
Journal | IEEE Control Systems Letters |
Volume | 8 |
DOIs | |
State | Published - 2024 |
Bibliographical note
Publisher Copyright:© 2017 IEEE.
Keywords
- Robotics
- autonomous vehicles
- data driven control
- nonholonomic systems
- stability of nonlinear systems
ASJC Scopus subject areas
- Control and Optimization
- Control and Systems Engineering