DocumentCode
2475967
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.
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
5998
Lastpage
6003
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376831
Filename
4177629
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