Computing Viable Sets and Reachable Sets to Design Feedback Linearizing Control Laws Under Saturation

@article{Oishi2006ComputingVS,
  title={Computing Viable Sets and Reachable Sets to Design Feedback Linearizing Control Laws Under Saturation},
  author={Meeko M. K. Oishi and Ian A Mitchell and C. Tomlin and Patrick Saint-Pierre},
  journal={Proceedings of the 45th IEEE Conference on Decision and Control},
  year={2006},
  pages={3801-3807}
}
We consider feedback linearizable systems subject to bounded control input and nonlinear state constraints. In a single computation, we synthesize 1) parameterized nonlinear controllers based on feedback linearization, and 2) the set of states over which this controller is valid. This is accomplished through a reachability calculation, in which the state is extended to incorporate input parameters. While we use a Hamilton-Jacobi formulation, a viability approach is also feasible. The result… CONTINUE READING
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