Motion planning and control of coordinated systems

• Type: Article in International Conference Proceedings Book
• Date: 2005

Authors

Jodo Borges de Sousa (Author) FEUP; Fernando Lobo Pereira (Author) FEUP

Conference proceedings International

Title: IEEE Conference on Decision and Control

Pages: 6394-6399

44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC)

Seville, SPAIN, DEC 12-15, 2005

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Scientific classification

CORDIS: Technological sciences

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-000-6ZJ

DOI: 10.1109/cdc.2005.1583187

Abstract (EN): Two problems of motion planning for controlled systems which are required to attain a given target set while satisfying coordinated constraints are formulated and solved using dynamic optimization techniques. Constraint coordination arises from the fact that the state of each system is mapped onto state constraints for the other systems. The problems are formulated in terms of backward reach sets which are the sub-zero level sets of appropriate value functions for nonstandard cost functions. The value functions are the solutions of Hamilton-Jacobi-Bellman type PDEs. For linear dynamics and ellipsoidal constraints the value functions are calculated through duality techniques from convex analysis.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6