Designing Robust Linear Output Feedback Controller Based on CLF–CBF Framework via Linear-Programming (LP–CLF–CBF)

Abstract

We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, control Lyapunov function and control barrier function, and linear programming. We propose two objectives for navigating in an environment, one to traverse the environment by making loops and one by converging to a stabilization point while smoothing the transition between consecutive cells. We test our algorithms in a simulation environment, evaluating the robustness of the approach to practical conditions, such as bearing-only measurements, and measurements acquired with a camera with a limited field of view.