Abstract : In this paper, the problem of state and input constrained control is addressed, with multidimensional constraints. We obtain a local description of the boundary of the admissible subset of the state space where the state and input constraints can be satisfied for all times. This boundary is made of two disjoint parts: the subset of the state constraint boundary on which there are trajectories pointing towards the interior of the admissible set or tangentially to it; and a barrier, namely a semipermeable surface which is constructed via a minimum-like principle.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01509334
Contributeur : François Chaplais
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Soumis le : dimanche 16 avril 2017 - 21:44:50
Dernière modification le : lundi 12 novembre 2018 - 11:05:26
Document(s) archivé(s) le : lundi 17 juillet 2017 - 12:26:54
José de Doná, Jean Lévine. On Barriers in State and Input Constrained Nonlinear Systems. SIAM Journal on Control and Optimization, Society for Industrial and Applied Mathematics, 2013, 51 (4), pp.3208 - 3234. ⟨10.1137/130908786⟩. ⟨hal-01509334⟩
