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dc.contributor.authorOishi, Meeko
dc.contributor.authorMitchell, Ian
dc.contributor.authorTomlin, Claire
dc.contributor.authorSaint-Pierre, Patrick
dc.date.accessioned2014-06-16T12:41:08Z
dc.date.available2014-06-16T12:41:08Z
dc.date.issued2006
dc.identifier.urihttps://basepub.dauphine.fr/handle/123456789/13473
dc.language.isoenen
dc.subjectfeedback linearizable systemsen
dc.subjectviability approachen
dc.subject.ddc519en
dc.titleComputing Viable Sets and Reachable Sets to Design Feedback Linearizing Control Laws Under Saturationen
dc.typeCommunication / Conférence
dc.description.abstractenWe consider feedback linearizable systems subject to bounded control input and nonlinear state constraints. In a single computation, we synthesize 1) parameterized nonlinear controllers based on feedback linearization, and 2) the set of states over which this controller is valid. This is accomplished through a reachability calculation, in which the state is extended to incorporate input parameters. While we use a Hamilton-Jacobi formulation, a viability approach is also feasible. The result provides a mathematical guarantee that for all states within the computed set, there exists a control law that simultaneously satisfy two separate goals: envelope protection (no violation of state constraints), and stabilization despite saturation. We apply this technique to two real-world systems: the longitudinal dynamics of a civil jet aircraft, and a two-aircraft, planar collision avoidance scenario. The result, in both cases, is a feasible range of input parameters for the nonlinear control law, and a corresponding controlled invariant set.en
dc.identifier.citationpages3801-3807en
dc.relation.ispartoftitle45th IEEE Conference on Decision and Control, 2006. Proceedingsen
dc.relation.ispartofpublnameIEEEen
dc.relation.ispartofdate2006
dc.subject.ddclabelProbabilités et mathématiques appliquéesen
dc.relation.ispartofisbn1-4244-0171-2en
dc.relation.conftitle45th IEEE Conference on Decision and Controlen
dc.relation.confdate2006-12
dc.relation.confcitySan Diegoen
dc.relation.confcountryÉtats-Unisen
dc.relation.forthcomingnonen
dc.identifier.doihttp://dx.doi.org/10.1109/CDC.2006.377614en


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