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Admissible controls and attainable states for a class of nonlinear systems with general constraints
Author(s) -
Achhab M. E.,
Callier F. M.,
Wertz V.
Publication year - 1994
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4590040204
Subject(s) - controllability , nonlinear system , neighbourhood (mathematics) , class (philosophy) , control theory (sociology) , mathematics , trajectory , state (computer science) , control (management) , nonlinear control , mathematical optimization , computer science , mathematical analysis , algorithm , physics , quantum mechanics , astronomy , artificial intelligence
Abstract We consider nonlinear control systems where the control and the state variables are submitted to explicit constraints. This paper has two objectives. First, for a class of nonlinear systems with constraints, an existence result of nontrivial admissible controls and some of their interesting properties are proved. Then, we investigate the problem of local controllability in a neighbourhood of an equilibrium point, while observing state and control constraints along the whole trajectory. An iterative procedure is also given, which allows one to compute the steering admissible control function. This procedure is illustrated with a classical example.