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Communication dans un congrès

Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer

Joris Tillet Luc Jaulin 1 Fabrice Le Bars 1
1 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : In this paper, we propose a set-inversion approach to validate the controller of a nonlinear system that should satisfy some state constraints. We introduce the notion of follow set which corresponds to the set of all output vectors such that the desired dynamics can be followed without violating the state-constraints. This follow set can then be used to choose feasible trajectories that a mobile robot will be able to follow. An illustrative example with a robot towing a trailer is presented. This example is motivated by the safe control of a boat towing a marine magnetique sensor to find wrecks.
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Communication dans un congrès
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-03173788
Contributeur : Marie Briec <>
Soumis le : jeudi 18 mars 2021 - 16:41:44
Dernière modification le : mercredi 21 avril 2021 - 11:18:03

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paper_joris_trailer.pdf
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Joris Tillet, Luc Jaulin, Fabrice Le Bars. Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. IROS 2020- International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas ( Online ), United States. pp.7729-7736, ⟨10.1109/IROS45743.2020.9341712⟩. ⟨hal-03173788⟩

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