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..._an_underactuated_underwater_vehicle_in_the_presence_of_current_disturbances.md
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| @@ -1,37 +1,38 @@ | ||
| --- | ||
| abstract: In this paper we present a viability-based formulation for the stabilization | ||
| of an underactuated underwater vehicle under the influence of a known, constant | ||
| current and state constraints. The stabilization problem is described by three problems | ||
| in terms of viability theory. We present a solution to the first problem which addresses | ||
| the safety of the system, i.e. guarantees that there exists a control law such that | ||
| the vehicle always remains into the safe set of state constraints. In order to overcome | ||
| the computational limitations due to the high dimension of the system we develop | ||
| a two-stage approach, based on forward reachability and game theory. The control | ||
| law is thus the safety controller when the system viability is at stake, i.e. close | ||
| to the boundary of the safe set. The viability kernel and the control law are numerically | ||
| computed. | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas Margellos | ||
| - Sean Summers | ||
| - John Lygeros | ||
| - Kostas J. Kyriakopoulos | ||
| bib: "@inproceedings{DBLP:conf/cdc/PanagouMSLK09,\n author = {Dimitra Panagou\ | ||
| \ and\n Kostas Margellos and\n Sean Summers and\n\ | ||
| \ John Lygeros and\n Kostas J. Kyriakopoulos},\n\ | ||
| \ title = {A viability approach for the stabilization of an underactuated\ | ||
| \ underwater\n vehicle in the presence of current disturbances},\n\ | ||
| \ booktitle = {Proceedings of the 48th {IEEE} Conference on Decision and Control,\n\ | ||
| \ {CDC} 2009, combined withe the 28th Chinese Control Conference,\ | ||
| \ December\n 16-18, 2009, Shanghai, China},\n pages = {8612--8617},\n\ | ||
| \ publisher = {{IEEE}},\n year = {2009},\n url = {https://doi.org/10.1109/CDC.2009.5400954},\n\ | ||
| \ doi = {10.1109/CDC.2009.5400954},\n timestamp = {Fri, 04 Mar 2022\ | ||
| \ 13:27:41 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib},\n\ | ||
| \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2009-01-01 | ||
| key: conf/cdc/PanagouMSLK09 | ||
| layout: papers | ||
| title: "A viability approach for the stabilization of an underactuated underwater vehicle in the presence of current disturbances." | ||
| date: 2009-01-01 | ||
| venue: "CDC" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas Margellos | ||
| - Sean Summers | ||
| - John Lygeros | ||
| - Kostas J. Kyriakopoulos | ||
| link: https://doi.org/10.1109/CDC.2009.5400954 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/cdc/PanagouMSLK09, | ||
| author = {Dimitra Panagou and | ||
| Kostas Margellos and | ||
| Sean Summers and | ||
| John Lygeros and | ||
| Kostas J. Kyriakopoulos}, | ||
| title = {A viability approach for the stabilization of an underactuated underwater | ||
| vehicle in the presence of current disturbances}, | ||
| booktitle = {Proceedings of the 48th {IEEE} Conference on Decision and Control, | ||
| {CDC} 2009, combined withe the 28th Chinese Control Conference, December | ||
| 16-18, 2009, Shanghai, China}, | ||
| pages = {8612--8617}, | ||
| publisher = {{IEEE}}, | ||
| year = {2009}, | ||
| url = {https://doi.org/10.1109/CDC.2009.5400954}, | ||
| doi = {10.1109/CDC.2009.5400954}, | ||
| timestamp = {Fri, 04 Mar 2022 13:27:41 +0100}, | ||
| biburl = {https://dblp.org/rec/conf/cdc/PanagouMSLK09.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: A viability approach for the stabilization of an underactuated underwater vehicle | ||
| in the presence of current disturbances. | ||
| venue: CDC | ||
| --- |
52 changes: 26 additions & 26 deletions
52
...ou-dipole_like_fields_for_stabilization_of_systems_with_pfaffian_constraints.md
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|---|---|---|
| @@ -1,31 +1,31 @@ | ||
| --- | ||
| abstract: This paper introduces a framework that guides the design of stabilizing | ||
| feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional | ||
| vector fields, the dipole-like vector fields is proposed, inspired by the form of | ||
| the flow lines of the electric point dipole. A general connection between the dipole-like | ||
| field and the Pfaffian constraints of catastatic nonholonomic systems is exploited, | ||
| to establish systematic guidelines on the design of stabilizing control laws. The | ||
| methodology is applied to the stabilization of the unicycle and of the nonholonomic | ||
| double integrator. Based on these guidelines, switching control laws are constructed. | ||
| The efficacy of the methodology is demonstrated through simulation results. | ||
| authors: | ||
| - dimitrapanagou | ||
| - Herbert G. Tanner | ||
| - Kostas J. Kyriakopoulos | ||
| bib: "@inproceedings{DBLP:conf/icra/PanagouTK10,\n author = {Dimitra Panagou\ | ||
| \ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\ | ||
| \ title = {Dipole-like fields for stabilization of systems with Pfaffian\ | ||
| \ constraints},\n booktitle = {{IEEE} International Conference on Robotics and\ | ||
| \ Automation, {ICRA}\n 2010, Anchorage, Alaska, USA, 3-7 May 2010},\n\ | ||
| \ pages = {4499--4504},\n publisher = {{IEEE}},\n year = {2010},\n\ | ||
| \ url = {https://doi.org/10.1109/ROBOT.2010.5509296},\n doi \ | ||
| \ = {10.1109/ROBOT.2010.5509296},\n timestamp = {Mon, 06 Nov 2017 12:15:02 +0100},\n\ | ||
| \ biburl = {https://dblp.org/rec/conf/icra/PanagouTK10.bib},\n bibsource\ | ||
| \ = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2010-01-01 | ||
| key: conf/icra/PanagouTK10 | ||
| layout: papers | ||
| title: "Dipole-like fields for stabilization of systems with Pfaffian constraints." | ||
| date: 2010-01-01 | ||
| venue: "ICRA" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Herbert G. Tanner | ||
| - Kostas J. Kyriakopoulos | ||
| link: https://doi.org/10.1109/ROBOT.2010.5509296 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/icra/PanagouTK10, | ||
| author = {Dimitra Panagou and | ||
| Herbert G. Tanner and | ||
| Kostas J. Kyriakopoulos}, | ||
| title = {Dipole-like fields for stabilization of systems with Pfaffian constraints}, | ||
| booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} | ||
| 2010, Anchorage, Alaska, USA, 3-7 May 2010}, | ||
| pages = {4499--4504}, | ||
| publisher = {{IEEE}}, | ||
| year = {2010}, | ||
| url = {https://doi.org/10.1109/ROBOT.2010.5509296}, | ||
| doi = {10.1109/ROBOT.2010.5509296}, | ||
| timestamp = {Mon, 06 Nov 2017 12:15:02 +0100}, | ||
| biburl = {https://dblp.org/rec/conf/icra/PanagouTK10.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: Dipole-like fields for stabilization of systems with Pfaffian constraints. | ||
| venue: ICRA | ||
| --- |
57 changes: 30 additions & 27 deletions
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...1/2011-panagou-control_of_nonholonomic_systems_using_reference_vector_fields.md
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|---|---|---|
| @@ -1,32 +1,35 @@ | ||
| --- | ||
| abstract: "This paper presents a control design methodology for n-dimensional nonholonomic\ | ||
| \ systems. The main idea is that, given a nonholonomic system subject to \u03BA\ | ||
| \ Pfaffian constraints, one can define a smooth, N-dimensional reference vector\ | ||
| \ field F, which is nonsingular everywhere except for a submanifold containing the\ | ||
| \ origin. The dimension N \u2264 n of F depends on the structure of the constraint\ | ||
| \ equations, which induces a foliation of the configuration space. This foliation,\ | ||
| \ together with the objective of having the system vector field aligned with F,\ | ||
| \ suggests a choice of Lyapunov-like functions V. The proposed approach recasts\ | ||
| \ the original nonholonomic control problem into a lower-dimensional output regulation\ | ||
| \ problem, which although nontrivial, can more easily be tackled with existing design\ | ||
| \ and analysis tools. The methodology applies to a wide class of nonholonomic systems,\ | ||
| \ and its efficacy is demonstrated through numerical simulations for the cases of\ | ||
| \ the unicycle and the n-dimensional chained systems, for n = 3, 4." | ||
| authors: | ||
| - dimitrapanagou | ||
| - Herbert G. Tanner | ||
| - Kostas J. Kyriakopoulos | ||
| bib: "@inproceedings{DBLP:conf/cdc/PanagouTK11,\n author = {Dimitra Panagou\ | ||
| \ and\n Herbert G. Tanner and\n Kostas J. Kyriakopoulos},\n\ | ||
| \ title = {Control of nonholonomic systems using reference vector fields},\n\ | ||
| \ booktitle = {50th {IEEE} Conference on Decision and Control and European Control\n\ | ||
| \ Conference, 11th European Control Conference, {CDC/ECC} 2011,\ | ||
| \ Orlando,\n FL, USA, December 12-15, 2011},\n pages =\ | ||
| \ {2831--2836},\n publisher = {{IEEE}},\n year = {2011},\n url \ | ||
| \ = {https://doi.org/10.1109/CDC.2011.6160922},\n doi = {10.1109/CDC.2011.6160922},\n\ | ||
| \ timestamp = {Wed, 24 Feb 2021 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib},\n\ | ||
| \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2011-01-01 | ||
| key: conf/cdc/PanagouTK11 | ||
| layout: papers | ||
| title: "Control of nonholonomic systems using reference vector fields." | ||
| date: 2011-01-01 | ||
| venue: "CDC/ECC" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Herbert G. Tanner | ||
| - Kostas J. Kyriakopoulos | ||
| link: https://doi.org/10.1109/CDC.2011.6160922 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/cdc/PanagouTK11, | ||
| author = {Dimitra Panagou and | ||
| Herbert G. Tanner and | ||
| Kostas J. Kyriakopoulos}, | ||
| title = {Control of nonholonomic systems using reference vector fields}, | ||
| booktitle = {50th {IEEE} Conference on Decision and Control and European Control | ||
| Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando, | ||
| FL, USA, December 12-15, 2011}, | ||
| pages = {2831--2836}, | ||
| publisher = {{IEEE}}, | ||
| year = {2011}, | ||
| url = {https://doi.org/10.1109/CDC.2011.6160922}, | ||
| doi = {10.1109/CDC.2011.6160922}, | ||
| timestamp = {Wed, 24 Feb 2021 08:49:08 +0100}, | ||
| biburl = {https://dblp.org/rec/conf/cdc/PanagouTK11.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: Control of nonholonomic systems using reference vector fields. | ||
| venue: CDC/ECC | ||
| --- |
52 changes: 27 additions & 25 deletions
52
...011/2011-panagou-control_of_underactuated_systems_with_viability_constraints.md
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| @@ -1,30 +1,32 @@ | ||
| --- | ||
| abstract: This paper addresses the 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. Furthermore, a class of nonholonomic | ||
| control solutions are redesigned by means of switching control, so that system trajectories | ||
| are viable in K and converge to a goal set G in K. The motion control for an underactuated | ||
| marine vehicle in a constrained configuration set K is treated as a case study. | ||
| The set K essentially describes the limited sensing area of a vision-based sensor | ||
| system, and viable control laws which establish convergence to a goal set G in K | ||
| are constructed. The efficacy of the methodology is demonstrated through simulation | ||
| results. | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas J. Kyriakopoulos | ||
| bib: "@inproceedings{DBLP:conf/cdc/PanagouK11,\n author = {Dimitra Panagou\ | ||
| \ and\n Kostas J. Kyriakopoulos},\n title = {Control of\ | ||
| \ underactuated systems with viability constraints},\n booktitle = {50th {IEEE}\ | ||
| \ Conference on Decision and Control and European Control\n Conference,\ | ||
| \ 11th European Control Conference, {CDC/ECC} 2011, Orlando,\n \ | ||
| \ FL, USA, December 12-15, 2011},\n pages = {5497--5502},\n publisher \ | ||
| \ = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/CDC.2011.6160925},\n\ | ||
| \ doi = {10.1109/CDC.2011.6160925},\n timestamp = {Wed, 24 Feb 2021\ | ||
| \ 08:49:08 +0100},\n biburl = {https://dblp.org/rec/conf/cdc/PanagouK11.bib},\n\ | ||
| \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2011-01-01 | ||
| key: conf/cdc/PanagouK11 | ||
| layout: papers | ||
| title: "Control of underactuated systems with viability constraints." | ||
| date: 2011-01-01 | ||
| venue: "CDC/ECC" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas J. Kyriakopoulos | ||
| link: https://doi.org/10.1109/CDC.2011.6160925 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/cdc/PanagouK11, | ||
| author = {Dimitra Panagou and | ||
| Kostas J. Kyriakopoulos}, | ||
| title = {Control of underactuated systems with viability constraints}, | ||
| booktitle = {50th {IEEE} Conference on Decision and Control and European Control | ||
| Conference, 11th European Control Conference, {CDC/ECC} 2011, Orlando, | ||
| FL, USA, December 12-15, 2011}, | ||
| pages = {5497--5502}, | ||
| publisher = {{IEEE}}, | ||
| year = {2011}, | ||
| url = {https://doi.org/10.1109/CDC.2011.6160925}, | ||
| doi = {10.1109/CDC.2011.6160925}, | ||
| timestamp = {Wed, 24 Feb 2021 08:49:08 +0100}, | ||
| biburl = {https://dblp.org/rec/conf/cdc/PanagouK11.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: Control of underactuated systems with viability constraints. | ||
| venue: CDC/ECC | ||
| --- |
52 changes: 27 additions & 25 deletions
52
...lization_of_a_unicycle_like_marine_vehicle_under_non_vanishing_perturbations.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,30 +1,32 @@ | ||
| --- | ||
| abstract: This paper presents a solution to the robust practical stabilization of | ||
| a unicycle-like marine vehicle, under non-vanishing current-induced perturbations. | ||
| A hysteresis-based switching control strategy is proposed, rendering the system | ||
| globally practically stable to a set G around the origin. The control scheme consists | ||
| of three control laws; the first one is active out of G and drives the system trajectories | ||
| into G, based on a dipole-like vector field. The other two control laws are active | ||
| in G and alternately regulate the position and the orientation of the vehicle. The | ||
| system is shown to be robust, in the sense that the vehicle enters and remains into | ||
| G even if only a maximum bound of the perturbation is known. The efficacy of the | ||
| solution is demonstrated through simulation results. | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas J. Kyriakopoulos | ||
| bib: "@inproceedings{DBLP:conf/icra/PanagouK11,\n author = {Dimitra Panagou\ | ||
| \ and\n Kostas J. Kyriakopoulos},\n title = {Switching\ | ||
| \ control approach for the robust practical stabilization\n of\ | ||
| \ a unicycle-like marine vehicle under non-vanishing perturbations},\n booktitle\ | ||
| \ = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n \ | ||
| \ 2011, Shanghai, China, 9-13 May 2011},\n pages = {1525--1530},\n\ | ||
| \ publisher = {{IEEE}},\n year = {2011},\n url = {https://doi.org/10.1109/ICRA.2011.5979747},\n\ | ||
| \ doi = {10.1109/ICRA.2011.5979747},\n timestamp = {Mon, 06 Nov 2017\ | ||
| \ 12:15:03 +0100},\n biburl = {https://dblp.org/rec/conf/icra/PanagouK11.bib},\n\ | ||
| \ bibsource = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2011-01-01 | ||
| key: conf/icra/PanagouK11 | ||
| layout: papers | ||
| title: "Switching control approach for the robust practical stabilization of a unicycle-like marine vehicle under non-vanishing perturbations." | ||
| date: 2011-01-01 | ||
| venue: "ICRA" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Kostas J. Kyriakopoulos | ||
| link: https://doi.org/10.1109/ICRA.2011.5979747 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/icra/PanagouK11, | ||
| author = {Dimitra Panagou and | ||
| Kostas J. Kyriakopoulos}, | ||
| title = {Switching control approach for the robust practical stabilization | ||
| of a unicycle-like marine vehicle under non-vanishing perturbations}, | ||
| booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} | ||
| 2011, Shanghai, China, 9-13 May 2011}, | ||
| pages = {1525--1530}, | ||
| publisher = {{IEEE}}, | ||
| year = {2011}, | ||
| url = {https://doi.org/10.1109/ICRA.2011.5979747}, | ||
| doi = {10.1109/ICRA.2011.5979747}, | ||
| timestamp = {Mon, 06 Nov 2017 12:15:03 +0100}, | ||
| biburl = {https://dblp.org/rec/conf/icra/PanagouK11.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: Switching control approach for the robust practical stabilization of a unicycle-like | ||
| marine vehicle under non-vanishing perturbations. | ||
| venue: ICRA | ||
| --- |
53 changes: 28 additions & 25 deletions
53
...intaining_visibility_for_leader_follower_formations_in_obstacle_environments.md
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,30 +1,33 @@ | ||
| --- | ||
| abstract: This paper addresses the problem of controlling a leader-follower (L - F) | ||
| formation of two unicycle mobile robots moving under visibility constraints in a | ||
| known obstacle environment. Visibility constraints are realized as inequality state | ||
| constraints that determine a visibility set K. Maintaining visibility is translated | ||
| into controlling the robots so that system trajectories starting in K always remain | ||
| in K. We provide the conditions under which visibility is maintained, as well as | ||
| a feedback control scheme that forces F to converge and remain into a set of desired | ||
| configurations w.r.t. L while maintaining visibility. We also propose a cooperative | ||
| control scheme for the motion of the formation in a known obstacle environment, | ||
| so that both collision avoidance and maintaining visibility are ensured. The proposed | ||
| control schemes are decentralized, in the sense that there is no direct communication | ||
| between the robots. The efficacy of our algorithms is evaluated through simulations. | ||
| authors: | ||
| - dimitrapanagou | ||
| - Vijay Kumar | ||
| bib: "@inproceedings{DBLP:conf/icra/PanagouK12,\n author = {Dimitra Panagou\ | ||
| \ and\n Vijay Kumar},\n title = {Maintaining visibility\ | ||
| \ for leader-follower formations in obstacle\n environments},\n\ | ||
| \ booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA}\n\ | ||
| \ 2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}},\n pages\ | ||
| \ = {1811--1816},\n publisher = {{IEEE}},\n year = {2012},\n\ | ||
| \ url = {https://doi.org/10.1109/ICRA.2012.6224893},\n doi =\ | ||
| \ {10.1109/ICRA.2012.6224893},\n timestamp = {Wed, 16 Oct 2019 14:14:51 +0200},\n\ | ||
| \ biburl = {https://dblp.org/rec/conf/icra/PanagouK12.bib},\n bibsource\ | ||
| \ = {dblp computer science bibliography, https://dblp.org}\n}" | ||
| date: 2012-01-01 | ||
| key: conf/icra/PanagouK12 | ||
| layout: papers | ||
| title: "Maintaining visibility for leader-follower formations in obstacle environments." | ||
| date: 2012-01-01 | ||
| venue: "ICRA" | ||
| authors: | ||
| - dimitrapanagou | ||
| - Vijay Kumar | ||
| link: https://doi.org/10.1109/ICRA.2012.6224893 | ||
| bib: |- | ||
| @inproceedings{DBLP:conf/icra/PanagouK12, | ||
| author = {Dimitra Panagou and | ||
| Vijay Kumar}, | ||
| title = {Maintaining visibility for leader-follower formations in obstacle | ||
| environments}, | ||
| booktitle = {{IEEE} International Conference on Robotics and Automation, {ICRA} | ||
| 2012, 14-18 May, 2012, St. Paul, Minnesota, {USA}}, | ||
| pages = {1811--1816}, | ||
| publisher = {{IEEE}}, | ||
| year = {2012}, | ||
| url = {https://doi.org/10.1109/ICRA.2012.6224893}, | ||
| doi = {10.1109/ICRA.2012.6224893}, | ||
| timestamp = {Wed, 16 Oct 2019 14:14:51 +0200}, | ||
| biburl = {https://dblp.org/rec/conf/icra/PanagouK12.bib}, | ||
| bibsource = {dblp computer science bibliography, https://dblp.org} | ||
| } | ||
| title: Maintaining visibility for leader-follower formations in obstacle environments. | ||
| venue: ICRA | ||
| --- |
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