کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
11027897 1666148 2018 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
On the construction of safe controllable regions for affine systems with applications to robotics
ترجمه فارسی عنوان
در ساخت مناطق امن کنترل شده برای سیستم های وابسته با برنامه های کاربردی به رباتیک
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی
This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible within the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficient algorithm for constructing IBC regions. We also prove the soundness of the algorithm. We then use the proposed algorithm to construct safe speed profiles for robotic systems. As a case study, we present several experimental results on unmanned aerial vehicles (UAVs) to verify the effectiveness of the proposed algorithm; these results include using the proposed algorithm for real-time collision avoidance for UAVs.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 98, December 2018, Pages 323-330
نویسندگان
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