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

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

4747

Lastpage

4752

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6161019

Filename

6161019