DocumentCode
2828339
Title
Reachability and control of affine hypersurface systems on polytopes
Author
Lin, Zhiyun ; Broucke, Mireille E.
Author_Institution
Univ. of Toronto, Toronto
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
733
Lastpage
738
Abstract
This paper studies the reachability problem with state constraints; that is, to reach a target without leaving a polytope. First, we provide a conceptual framework for the constrained reachability problem. Then we obtain necessary and sufficient conditions for the problem for affine hypersurface systems. In addition, we provide a geometric characterization of the maximal set of initial states from which the objective can be met. Finally, algorithms on constructing piecewise affine feedback controls that accomplish the objective are presented.
Keywords
feedback; open loop systems; piecewise linear techniques; reachability analysis; affine hypersurface system control; constrained reachability problem; control synthesis problem; open-loop control; piecewise affine feedback controls; polytopes; state constraints; Collision avoidance; Control system synthesis; Control systems; Feedback control; Open loop systems; Safety; State feedback; Sufficient conditions; USA Councils; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434805
Filename
4434805
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