In a companion paper (Nonlinear Impulsive Dynamical Systems. Part I: Stability and Dissipativity) Lyapunov and invariant set stability theorems and dissipativity theory were developed for non-linear impulsive dynamical systems. In this paper we build on these results to develop general stability criteria for feedback interconnections of non-linear impulsive systems. In addition, a uni®ed framew...

in this paper, the development and optimization of power distribution control strategy (pdcs) have been performed for a hybrid energy storage systems (hess) of a series hybrid electric bus (sheb). a common pdcs is based on the use of ultra-capacitor (uc) pack. a new simple pdcs is developed as a battery based one. for the battery based pdcs, four parameters are introduced for tuning the pdcs pe...

This paper focuses on a specific aspect of the implementation problem for predictor-based feedback laws: the problemof the approximation of the predictormapping. It is shown that the numerical approximation of the predictor mapping by means of a numerical scheme in conjunction with a hybrid feedback law that uses sampled measurements can be used for the global stabilization of all forward compl...

This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along a preplanned path. Avoidance of local obstacles is accomplished by adjusting the vehicle’s lateral deviation from the path trajectory reactively. Global path replanning is performe...

The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of enhancing both energy efficiency and agility of dynamic locomotion. While the potential energetic benefits of springs are well documented in the literature, feedback control designs that effectively realize this potential are lacking. In this paper, we extend and apply the methods of virtual constraints and h...

This paper considers a stabilizing hybrid scheme to control a class of underactuated mechanical systems. The hybrid controller consists of a collection of state feedback controllers plus a discrete-event supervisor. When the continuous-state hits a switching boundary, a new controller is applied to the plant. Lyapunov theory is used to determine the switching boundaries and to guarantee the sta...

This work deals with model following by output feedback in hybrid systems subject to periodic state jumps. In particular, the hybrid systems addressed exhibit a free jump dynamics and a to-be-controlled flow dynamics. Moreover, they may present a direct algebraic link from the control input to the regulated output — such possible algebraic link is briefly called the control feedthrough. The pro...

This paper presents a novel feedback-control law for coordinating the motion of multiple holonomic mobile robots to capture/enclose a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a target/invader, other robots and obstacles, to ...

We construct hybrid loops that augment continuous-time control systems. We consider a continuous-time nonlinear plant in feedback with a (possibly non stabilizing) given nonlinear dynamic continuous-time state feedback controller. The arising hybrid closed loops are guaranteed to follow the underlying continuous-time closed-loop dynamics when flowing and to jump in suitable regions of the close...