Autonomous driving paper index
Feedback stabilization of switched systems under arbitrary switching: A convex characterization
One-line summary
In this paper, we study stabilizability of discrete-time switched linear systems where the switching signal is considered as an arbitrary external input (and not a control variable).
Engineering notes
Key topics: autonomous driving, control. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
In this paper, we study stabilizability of discrete-time switched linear systems where the switching signal is considered as an arbitrary external input (and not a control variable). We characterize feedback stabilization via a hierarchy of necessary and sufficient linear matrix inequalities (LMIs) conditions based on novel graph structures. We analyze both the cases in which the controller has (or has not) access to the current switching mode, the so-called mode-dependent and mode-independent settings, providing specular results. Moreover, our approach provides explicit piecewise-linear and memory-dependent linear controllers, highlighting the connections with existing stabilization approaches. The effectiveness of the proposed technique is finally illustrated with the help of some numerical examples.
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