Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer
Joris Tillet,Luc Jaulin,Fabrice Le Bars,Joris Tillet,Luc Jaulin,Fabrice Le Bars
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 ...
