Control of underactuated systems with viability constraints.

Abstract

This paper addresses the control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic control solutions are redesigned by means of switching control, so that system trajectories are viable in K and converge to a goal set G in K. The motion control for an underactuated marine vehicle in a constrained configuration set K is treated as a case study. The set K essentially describes the limited sensing area of a vision-based sensor system, and viable control laws which establish convergence to a goal set G in K are constructed. The efficacy of the methodology is demonstrated through simulation results.

Bib

@inproceedings{DBLP:conf/cdc/PanagouK11,
  author       = {Dimitra Panagou and
                  Kostas J. Kyriakopoulos},
  title        = {Control of underactuated systems with viability constraints},
  booktitle    = {50th {IEEE} Conference on Decision and Control and European Control
                  Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando,
                  FL, USA, December 12-15, 2011},
  pages        = {5497--5502},
  publisher    = {{IEEE}},
  year         = {2011},
  url          = {https://doi.org/10.1109/CDC.2011.6160925},
  doi          = {10.1109/CDC.2011.6160925},
  timestamp    = {Wed, 24 Feb 2021 08:49:08 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}