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

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

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 magnetic sensor to find wrecks.

langue originale	Anglais
titre	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Editeur	Institute of Electrical and Electronics Engineers Inc.
Pages	7729-7736
Nombre de pages	8
ISBN (Electronique)	9781728162126
Les DOIs	https://doi.org/10.1109/IROS45743.2020.9341712
état	Publié - 24 oct. 2020
Evénement	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, États-Unis Durée: 24 oct. 2020 → 24 janv. 2021

Série de publications

Nom	IEEE International Conference on Intelligent Robots and Systems
ISSN (imprimé)	2153-0858
ISSN (Electronique)	2153-0866

Une conférence

Une conférence	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Pays/Territoire	États-Unis
La ville	Las Vegas
période	24/10/20 → 24/01/21

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SDG 14 Vie sous l’eau

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10.1109/IROS45743.2020.9341712

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Contient cette citation

Tillet, J., Jaulin, L., & Bars, F. L. (2020). Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. Dans 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 (p. 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. p. 7729-7736 (IEEE International Conference on Intelligent Robots and Systems).

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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",

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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. Dans 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., p. 7729-7736, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, États-Unis, 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).

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

TY - GEN

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

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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

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

PB - Institute of Electrical and Electronics Engineers Inc.

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Tillet J, Jaulin L, Bars FL. Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer. Dans 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

Résumé

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SDG des Nations Unies

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