Viability control for a class of underactuated systems

@article{Panagou2013ViabilityCF,
  title={Viability control for a class of underactuated systems},
  author={Dimitra Panagou and Kostas J. Kyriakopoulos},
  journal={Automatica},
  year={2013},
  volume={49},
  pages={17-29}
}
This paper addresses the feedback control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given, so that system trajectories starting in K always… CONTINUE READING