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From Pure State and Input Constraints to Mixed Constraints in Nonlinear Systems

Abstract : We survey the results on the problem of pure/mixed state and input constrained control, with multidimensional constraints, for finite dimensional nonlinear differential systems with focus on the so-called admissible set and its boundary. The admissible set is the set of initial conditions for which there exist a control and an integral curve satisfying the constraints for all time. Its 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 generalized minimum-like principle with nonsmooth terminal conditions. Comparisons between pure state constraints and mixed ones are presented on a series of simple academic examples.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01528089
Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Saturday, May 27, 2017 - 3:02:50 AM
Last modification on : Wednesday, November 17, 2021 - 12:31:04 PM

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Willem Esterhuizen, Jean Lévine. From Pure State and Input Constraints to Mixed Constraints in Nonlinear Systems. Nicolas Petit. Feedback Stabilization of Controlled Dynamical Systems, 473, Springer, pp.125-141, 2017, Lecture Notes in Control and Information Sciences, ⟨10.1007/978-3-319-51298-3_5⟩. ⟨hal-01528089⟩

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