Dynamical trajectory replanning for uncertain environments

We propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller´s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator´s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles.