On Barriers in State and Input Constrained Nonlinear Systems
Optimization and Control
2013-09-11 v1
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 \emph{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.
Keywords
Cite
@article{arxiv.1302.1225,
title = {On Barriers in State and Input Constrained Nonlinear Systems},
author = {José A. De Doná and Jean Lévine},
journal= {arXiv preprint arXiv:1302.1225},
year = {2013}
}
Comments
36 pages, 8 figures, submitted