Motion planning and control of coordinated systems

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2005

Autores

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

Ata de Conferência Internacional

Título: IEEE Conference on Decision and Control

Páginas: 6394-6399

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

Seville, SPAIN, DEC 12-15, 2005

Indexação

ISI Web of Knowledge - 0 Citações

ISI Web of Science

Scopus - 0 Citações

Classificação Científica

CORDIS: Ciências Tecnológicas

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6