Real-Time Control of an Autonomous Control System Based on Feasibility Analysis

This paper presents a general framework to derive conditions for the existence of feasible solutions for a nonlinear control system comprising of a team of mobile agents having to satisfy actuator and inter-agent constraints. We consider a difficult control problem involving a team of cooperating mobile agents for which an algorithm suitable for generating trajectories online and in real-time, was developed earlier. We show that the results developed in here validate simulation results of this algorithm which was based on a similar but only an approximate feasibility analysis. We give a rigorous treatment of the example problem which includes results on its accessibility, feasibility, local asymptotic straightening of trajectories and a limited result on system controllability