TY - GEN
T1 - Control of underactuated systems with viability constraints
AU - Panagou, Dimitra
AU - Kyriakopoulos, Kostas J.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84860700460&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2011.6160925
DO - 10.1109/CDC.2011.6160925
M3 - Conference contribution
AN - SCOPUS:84860700460
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5497
EP - 5502
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -