Title :
Viability Kernels for Nonlinear Control Systems Using Bang Controls
Author :
Broucke, Mireille E. ; Turriff, John
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
fDate :
5/1/2010 12:00:00 AM
Abstract :
This note develops a method to construct viability kernels for multi-input, single-output nonlinear control systems affine in the control. The safe set is the superlevel set of a smooth function, and the control is constrained to take values in a compact polyhedron. The results make use of the Frankowska method and the notion of viable capture basins.
Keywords :
multivariable control systems; nonlinear control systems; set theory; Frankowska method; bang control; capture basin; control affine system; multi-input single-output nonlinear control system; polyhedron; viability kernel; Biology computing; Centralized control; Collision avoidance; Control systems; Environmental factors; Gold; Kernel; Nonlinear control systems; Robots; State-space methods; Vehicles; Capture basins; control affine systems; nonsmooth analysis; set invariance; viability kernels;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2042657
