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Communication Dans Un Congrès Année : 2020

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

Joris Tillet
  • Fonction : Auteur
Luc Jaulin
Fabrice Le Bars

Résumé

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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Dates et versions

hal-03173788 , version 1 (18-03-2021)

Identifiants

Citer

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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