Nonlinear set stabilization: application to coordinated path following

集合镇定问题是控制系统中的一个重要问题，因为在许多新兴的应用中，集合镇定是制定控制目标的自然方法。一些例子包括控制编队使三个轮式机器人在平面上排成三角形；两足机器人行走运动的控制；汽车、轮船或飞机的路径跟踪问题(使移动车辆的位置接近并跟随一条路径)；在机器人中为触觉应用创建虚拟约束；耦合振荡器的同步。从理论上讲，许多现有的处理平衡镇定的非线性控制概念在集合镇定领域都有类似的概念，这将是对控制理论的基本推广和贡献。

The set stabilization problem is an important problem in control systems because there are many emerging applications in which set stabilization is the natural way to formulate control objectives. Some examples are the control of a formation to make three wheeled robots arrange themselves in a triangle on the plane; the control of the walking motion for a biped robot; the path following problem for a car, ship or airplane (make the position of the mobile vehicle approach and follow a path); the creation of virtual constraints in a robot for haptic applications; the synchronization of coupled oscillators. Theoretically, many existing concepts from nonlinear control that deal with equilibria stabilization have analogous counterparts in the set stabilization realm which would represent a fundamental generalization and contribution to control theory.