A Switched Systems Approach to Path Following With Intermittent State Feedback

@article{Chen2019ASS,
  title={A Switched Systems Approach to Path Following With Intermittent State Feedback},
  author={Hsi-Yuan Chen and Zachary I. Bell and Patryk Deptula and Warren E. Dixon},
  journal={IEEE Transactions on Robotics},
  year={2019},
  volume={35},
  pages={725-733}
}
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… CONTINUE READING
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