Temporal Viability Regulation for Control Affine Systems with Applications to Mobile Vehicle Coordination under Time-Varying Motion Constraints
(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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/d746e58c-3058-412f-921f-62e57be64e47
- author
- Greiff, Marcus LU ; Sun, Zhiyong LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2019
- 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}}, }