Title :
A Viability Problem for Control Affine Systems with Application to Collision Avoidance
Author :
Fadaie, Farid ; Broucke, Mireille E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont.
Abstract :
Given a control affine system and a domain S which is a smooth manifold with boundary, we present results on explicit construction of a viability controller and viable kernel of S. Under a standard invariance condition on the viability domain, it is shown that there is a viability controller that takes a particularly simple form: it is a bang control. The proposed theory is applied to the problem of collision avoidance control of two vehicles
Keywords :
bang-bang control; collision avoidance; vehicle dynamics; bang control; control affine systems; invariance condition; vehicle collision avoidance; viability controller; Collision avoidance; Constraint theory; Control systems; Dynamic programming; Equations; Kernel; Level set; State-space methods; USA Councils; Vehicles;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376831
