Controlling a Class of Nonlinear Systems on Rectangles
Top Cited Papers
- 13 November 2006
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 51 (11), 1749-1759
- https://doi.org/10.1109/tac.2006.884957
Abstract
In this paper, we focus on a particular class of nonlinear affine control systems of the form xdot=f(x)+Bu, where the drift f is a multi-affine vector field (i.e., affine in each state component), the control distribution B is constant, and the control u is constrained to a convex set. For such a system, we first derive necessary and sufficient conditions for the existence of a multiaffine feedback control law keeping the system in a rectangular invariant. We then derive sufficient conditions for driving all initial states in a rectangle through a desired facet in finite time. If the control constraints are polyhedral, we show that all these conditions translate to checking the feasibility of systems of linear inequalities to be satisfied by the control at the vertices of the state rectangle. This work is motivated by the need to construct discrete abstractions for continuous and hybrid systems, in which analysis and control tasks specified in terms of reachability of sets of states can be reduced to searches on finite graphs. We show the application of our results to the problem of controlling the angular velocity of an aircraft with gas jet actuatorsKeywords
This publication has 23 references indexed in Scilit:
- Concurrency and automata on infinite sequencesPublished by Springer Science and Business Media LLC ,2005
- A control problem for affine dynamical systems on a full-dimensional polytopeAutomatica, 2004
- Bisimilar linear systemsAutomatica, 2003
- Modeling and Simulation of Genetic Regulatory Systems: A Literature ReviewJournal of Computational Biology, 2002
- What's Decidable about Hybrid Automata?Journal of Computer and System Sciences, 1998
- Stability of a bottom-heavy underwater vehicleAutomatica, 1997
- A theory of timed automataTheoretical Computer Science, 1994
- Spacecraft attitude control and stabilization: Applications of geometric control theory to rigid body modelsIEEE Transactions on Automatic Control, 1984
- A globally stable linear attitude regulatorInternational Journal of Control, 1968
- Fluctuations in the Abundance of a Species considered Mathematically1Nature, 1926