Title :
Reachability and control of affine hypersurface systems on polytopes
Author :
Lin, Zhiyun ; Broucke, Mireille E.
Author_Institution :
Univ. of Toronto, Toronto
Abstract :
This paper studies the reachability problem with state constraints; that is, to reach a target without leaving a polytope. First, we provide a conceptual framework for the constrained reachability problem. Then we obtain necessary and sufficient conditions for the problem for affine hypersurface systems. In addition, we provide a geometric characterization of the maximal set of initial states from which the objective can be met. Finally, algorithms on constructing piecewise affine feedback controls that accomplish the objective are presented.
Keywords :
feedback; open loop systems; piecewise linear techniques; reachability analysis; affine hypersurface system control; constrained reachability problem; control synthesis problem; open-loop control; piecewise affine feedback controls; polytopes; state constraints; Collision avoidance; Control system synthesis; Control systems; Feedback control; Open loop systems; Safety; State feedback; Sufficient conditions; USA Councils; Vehicles;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434805
