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

Joris Tillet; Luc Jaulin; Fabrice Le Bars

doi:10.1109/IROS45743.2020.9341712

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

Joris Tillet
, Luc Jaulin
, Fabrice Le Bars

ENSTA Bretagne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 magnetic sensor to find wrecks.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7729-7736
Number of pages	8
ISBN (Electronic)	9781728162126
DOIs	https://doi.org/10.1109/IROS45743.2020.9341712
Publication status	Published - 24 Oct 2020
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States Duration: 24 Oct 2020 → 24 Jan 2021

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/Territory	United States
City	Las Vegas
Period	24/10/20 → 24/01/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Interval analysis
Lie derivatives
Mobile robots
Nonlinear control
State constraints
Tank-trailer

Access to Document

10.1109/IROS45743.2020.9341712

Cite this

Tillet, J., Jaulin, L., & Bars, F. L. (2020). Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 (pp. 7729-7736). Article 9341712 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS45743.2020.9341712

Tillet, Joris ; Jaulin, Luc ; Bars, Fabrice Le. / Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 7729-7736 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{4a00e77ee13c4356b3c02cba2de8eb5c,

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

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 magnetic sensor to find wrecks.",

keywords = "Interval analysis, Lie derivatives, Mobile robots, Nonlinear control, State constraints, Tank-trailer",

author = "Joris Tillet and Luc Jaulin and Bars, \{Fabrice Le\}",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 24-10-2020 Through 24-01-2021",

year = "2020",

month = oct,

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doi = "10.1109/IROS45743.2020.9341712",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Tillet, J, Jaulin, L & Bars, FL 2020, Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020., 9341712, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 7729-7736, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 24/10/20. https://doi.org/10.1109/IROS45743.2020.9341712

Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. / Tillet, Joris; Jaulin, Luc; Bars, Fabrice Le.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 7729-7736 9341712 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer

AU - Tillet, Joris

AU - Jaulin, Luc

AU - Bars, Fabrice Le

PY - 2020/10/24

Y1 - 2020/10/24

N2 - 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 magnetic sensor to find wrecks.

AB - 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 magnetic sensor to find wrecks.

KW - Interval analysis

KW - Lie derivatives

KW - Mobile robots

KW - Nonlinear control

KW - State constraints

KW - Tank-trailer

UR - https://www.scopus.com/pages/publications/85102411054

U2 - 10.1109/IROS45743.2020.9341712

DO - 10.1109/IROS45743.2020.9341712

M3 - Conference contribution

AN - SCOPUS:85102411054

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 7729

EP - 7736

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020

Y2 - 24 October 2020 through 24 January 2021

ER -

Tillet J, Jaulin L, Bars FL. Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 7729-7736. 9341712. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS45743.2020.9341712

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

Abstract

Publication series

Conference

UN SDGs

Keywords

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