Admissible Controls and Attainable States for a Class of Nonlinear-systems With General Constraints
Admissible Controls and Attainable States for a Class of Nonlinear-systems With General Constraints
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DOI：
10.1002/rnc.4590040204
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发表时间：
1994
影响因子：
3.9
通讯作者：
M. E. Achhab;F. Callier;V. Wertz
中科院分区：
文献类型：
--
作者：
M. E. Achhab;F. Callier;V. Wertz
我们考虑非线性控制系统的控制和状态变量提交明确的约束。本文有两个目的。首先，对一类带约束的非线性系统，证明了非平凡容许控制的存在性结果及其一些有趣的性质。然后，我们调查的问题，在一个平衡点附近的局部可控性，同时观察状态和控制约束沿着整个轨迹。文中还给出了一个迭代过程，它允许人们计算转向容许控制函数。用一个经典的例子说明了这一过程。
We consider nonlinear control systems where the control and the state variables are submitted to explicit constraints. This paper has two objectives. First, for a class of nonlinear systems with constraints, an existence result of nontrivial admissible controls and some of their interesting properties are proved. Then, we investigate the problem of local controllability in a neighbourhood of an equilibrium point, while observing state and control constraints along the whole trajectory. An iterative procedure is also given, which allows one to compute the steering admissible control function. This procedure is illustrated with a classical example.