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Invariant Sets for ...
Invariant Sets for Integrators and Quadrotor Obstacle Avoidance
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- Doeser, Ludvig (författare)
- KTH,Matematik (Avd.)
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- Nilsson, Petter (författare)
- CALTECH, Dept Mech & Civil Engn, Pasadena, CA 91125 USA.
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- Ames, Aaron D. (författare)
- CALTECH, Dept Mech & Civil Engn, Pasadena, CA 91125 USA.
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- Murray, Richard M. (författare)
- CALTECH, Dept Comp Math Sci, Pasadena, CA 91125 USA.
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KTH Matematik (Avd) (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2020
- 2020
- Engelska.
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Ingår i: Proceedings of the American Control Conference, ACC 2020. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 3814-3821
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.2...
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Abstract
Ämnesord
Stäng
- Ensuring safety through set invariance has proven a useful method in a variety of applications in robotics and control. However, finding analytical expressions for maximal invariant sets, so as to maximize the operational freedom of the system without compromising safety, is notoriously difficult for high-dimensional systems with input constraints. Here we present a generic method for characterizing invariant sets of nth-order integrator systems, based on analyzing roots of univariate polynomials. Additionally, we obtain analytical expressions for the orders n <= 4. Using differential flatness we subsequently leverage the results for the n = 4 case to the problem of obstacle avoidance for quadrotor UAVs. The resulting controller has a light computational footprint that showcases the power of finding analytical expressions for control-invariant sets.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)