Safety controls and applications to the Dubins' car

DOI10.1007/S00030-003-1050-9MaRDI QIDQ1879271zbMATH OpenOpenAlexFDO

Authors Alessia Marigo, B. Piccoli

Publication date 22 September 2004

Published in NoDEA. Nonlinear Differential Equations and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00030-003-1050-9

zbMATH Keywords

optimal controlcooperative controldiscontinuous differential equationsDubins' caroptimal feedback synthesis

Mathematics Subject Classification ID

Discontinuous ordinary differential equations (34A36) Existence theories for optimal control problems involving ordinary differential equations (49J15) Optimal feedback synthesis (49N35)

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(5)

• Dual approach to Lyapunov stability
• Robust shared-control for rear-wheel drive cars
• Least-violating control strategy synthesis with safety rules
• Regular syntheses and solutions to discontinuous ODEs
• On the construction of nearly time optimal continuous feedback laws around switching manifolds

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