Control of underactuated systems with viability constraints

Panagou, D; Kyriakopoulos, KJ

dc.contributor.author	Panagou, D	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:52:57Z
dc.date.available	2014-03-01T02:52:57Z
dc.date.issued	2011	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36168
dc.subject.other	Control design	en
dc.subject.other	Control laws	en
dc.subject.other	Marine vehicles	en
dc.subject.other	Non-holonomic control	en
dc.subject.other	Nonholonomic systems	en
dc.subject.other	Sensing areas	en
dc.subject.other	State constraints	en
dc.subject.other	Switching Control	en
dc.subject.other	System trajectory	en
dc.subject.other	Under-actuated systems	en
dc.subject.other	Underactuated	en
dc.subject.other	Viability theory	en
dc.subject.other	Vision-based sensors	en
dc.subject.other	Control	en
dc.title	Control of underactuated systems with viability constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2011.6160925	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2011.6160925	en
heal.identifier.secondary	6160925	en
heal.publicationDate	2011	en
heal.abstract	This paper addresses the control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given. Furthermore, a class of nonholonomic control solutions are redesigned by means of switching control, so that system trajectories are viable in K and converge to a goal set G in K. The motion control for an underactuated marine vehicle in a constrained configuration set K is treated as a case study. The set K essentially describes the limited sensing area of a vision-based sensor system, and viable control laws which establish convergence to a goal set G in K are constructed. The efficacy of the methodology is demonstrated through simulation results. © 2011 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2011.6160925	en
dc.identifier.spage	5497	en
dc.identifier.epage	5502	en