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Temporal Viability Regulation for Control Affine Systems with Applications to Mobile Vehicle Coordination under Time-Varying Motion Constraints

Greiff, Marcus LU ; Sun, Zhiyong LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2019) 2019 European Control Conference
Abstract
Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications.
In this paper we develop a \textit{temporal} viability regulation theory for general dynamical control systems, and in particular for control affine systems. The time-varying viable set is parameterized by time-varying constraint functions, with the aim to regulate a dynamical control system to be invariant in the time-varying viable set so that temporal state-dependent constraints are enforced. We consider both time-varying equality and inequality constraints in defining a temporal viable set. We also present sufficient conditions for the existence of feasible control input for... (More)
Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications.
In this paper we develop a \textit{temporal} viability regulation theory for general dynamical control systems, and in particular for control affine systems. The time-varying viable set is parameterized by time-varying constraint functions, with the aim to regulate a dynamical control system to be invariant in the time-varying viable set so that temporal state-dependent constraints are enforced. We consider both time-varying equality and inequality constraints in defining a temporal viable set. We also present sufficient conditions for the existence of feasible control input for the control affine systems. The developed temporal viability regulation theory is applied to mobile vehicle coordination. (Less)
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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
The 2019 European Control Conference
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2019 European Control Conference
conference location
Napoli, Italy
conference dates
2019-06-25 - 2019-06-28
external identifiers
  • scopus:85071585348
ISBN
978-3-907144-00-8
DOI
10.23919/ECC.2019.8796018
project
Semantic Mapping and Visual Navigation for Smart Robots
RobotLab LTH
language
English
LU publication?
yes
id
d746e58c-3058-412f-921f-62e57be64e47
date added to LUP
2019-06-19 11:24:48
date last changed
2023-04-09 17:21:31
@inproceedings{d746e58c-3058-412f-921f-62e57be64e47,
  abstract     = {{Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications. <br/>In this paper we develop a \textit{temporal} viability  regulation theory for general dynamical control systems, and in particular for control affine systems. The time-varying viable set is parameterized by time-varying constraint functions, with the aim to regulate  a dynamical control system to be invariant in the time-varying viable set so that temporal state-dependent constraints are enforced. We consider both time-varying equality and inequality constraints in defining a temporal viable set. We also present sufficient conditions for the existence of feasible control input for the control affine systems. The developed temporal viability regulation theory is applied to mobile vehicle coordination.}},
  author       = {{Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{The 2019 European Control Conference}},
  isbn         = {{978-3-907144-00-8}},
  language     = {{eng}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Temporal Viability Regulation for Control Affine Systems with Applications to Mobile Vehicle Coordination under Time-Varying Motion Constraints}},
  url          = {{https://lup.lub.lu.se/search/files/66244551/Temporal_viability_regulation_2_.pdf}},
  doi          = {{10.23919/ECC.2019.8796018}},
  year         = {{2019}},
}