Control of Mobile Robots: Glue Lectures

Instructor:

Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech
 Glue Lecture 5: Hybrid Automata

Pay attention, this lecture will help you all with Quiz 5!

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 For example,

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 Zeno Phenomenon

g(x) < 0

ẋ = f1 ẋ = f2

g(x) 0

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 When is it Type 1 Zeno?

g(x) = 0
L f1 g < 0 ^ L f2 g > 0
Must induce sliding mode

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 Example …

x < 10

ẋ = 6 x ẋ = 5x

x 10

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 Example …

Check :

g(x) = 0
L f1 g < 0 ^ L f2 g > 0

g(x) = 0 ) x = 10 Must do sliding control !!!

L f1 g = 6 x < 0 ) x > 6
Lf2 g = 5x > 0 ) x > 0
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 In general form …

dg
=0
dt
(to find dynamics)

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 To find sliding mode dynamics …

dg
= 0 ) ẋ = 0
dt

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ẋ = (Lf2 g f1 L f1 g f 2 )
L f2 g L f1 g

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 To find sliding mode dynamics …

L f1 g = 6 x = f1
Lf2 g = 5x = f2
) ẋ = 0

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ẋ = (Lf2 g f1 L f1 g f 2 )
L f2 g L f1 g

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 All together …

x < 10
x 10

x = 10 x = 10
1
ẋ = (Lf2 g f1 L f1 g f 2 )
L f2 g L f1 g

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 Check the forums, and good luck with Quiz 5!

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