Viability Kernels and Capture Basins of Sets Under Differential Inclusions
SIAM Journal on Control and Optimization
Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form
SIAM Journal on Control and Optimization
Navigation function-based visual servo control
Automatica (Journal of IFAC)
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems
International Journal of Robotics Research
Switched seesaw control for the stabilization of underactuated vehicles
Automatica (Journal of IFAC)
Set-Theoretic Methods in Control
Set-Theoretic Methods in Control
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
IEEE Transactions on Robotics
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Brief Robust stabilization via iterative state steering with an application to chained-form systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems
Automatica (Journal of IFAC)
Keeping Multiple Moving Targets in the Field of View of a Mobile Camera
IEEE Transactions on Robotics
Hi-index | 22.15 |
This paper addresses the feedback control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given, so that system trajectories starting in K always remain in K. Furthermore, a class of state feedback control solutions for nonholonomic systems are redesigned by means of switching control, so that system trajectories starting in K converge to a goal set G in K, without ever leaving K. The proposed approach can be applied in various problems, whose objective can be recast as controlling a nonholonomic system so that the resulting trajectories remain forever in a subset K of the state space, until they converge into a goal (target) set G in K. The motion control for an underactuated marine vehicle in a constrained configuration set K is treated as a case study; the set K essentially describes the limited sensing area of a vision-based sensor system, and viable control laws which establish convergence to a goal set G in K are constructed. The robustness of the proposed control approach under a class of bounded external perturbations is also considered. The efficacy of the methodology is demonstrated through simulation results.