Smriti Chopra ECE Ph.D. Candidate Georgia Tech
Control of Mobile Robots: Glue Lectures
Instructor:
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Glue Lecture 5: Hybrid Automata Pay attention, this lecture will help you all with Quiz 5!
Example …
g(x) = 0
Lf1g < 0 ^ Lf2g > 0
Check :
g(x) = 0 ) x = 10
Lf1g = 6� x < 0 ) x > 6
Lf2g = 5x > 0 ) x > 0
Must do sliding control !!!
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To find sliding mode dynamics …
dg
dt= 0 ) x = 0
x =1
Lf2g � Lf1g(Lf2gf1 � Lf1gf2)
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To find sliding mode dynamics …
x =1
Lf2g � Lf1g(Lf2gf1 � Lf1gf2)
Lf1g = 6� x = f1
Lf2g = 5x = f2
) x = 0
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All together …
x = 10 x = 10
x < 10
x =1
Lf2g � Lf1g(Lf2gf1 � Lf1gf2)
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x > 10
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Check the forums, and good luck with Quiz 5!