Title :
Reach controllability of single input affine systems
Author :
Kazerooni, Elham Semsar ; Broucke, Mireille E.
Author_Institution :
Edward S. Rogers Sr. Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
Abstract :
We study the reach control problem (RCP) for a single input affine system with a simplicial state space. We extend previous results by exploring arbitrary triangulations of the state space; particularly allowing the set of possible equilibria to intersect the interior of simplices. In the studied setting, it is shown that closed-loop equilibria, nevertheless, only arise on the boundary of simplices. This allows to define a notion of reach controllability which quantifies the effect of the control input on boundary equilibria. Using reach controllability we obtain necessary and sufficient conditions for solvability of RCP by affine feedback.
Keywords :
affine transforms; closed loop systems; computability; controllability; state-space methods; RCP; affine feedback; arbitrary triangulations; boundary equilibria; closed-loop equilibria; control input; necessary and sufficient conditions; reach control problem; reach controllability; simplicial state space; single input affine systems; solvability; Aerospace electronics; Controllability; Face; Indexes; State feedback; Trajectory; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161019
