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Temporal viability regulation for control affine systems with applications to mobile vehicle coordination under time-varying motion constraints
Controlled invariant set and viability regulation of dynamical control
systems have played important roles in many control and coordination
applications. In this paper we develop a temporal viability regulation theory
for general dynamical control systems, and in particular for control affine
systems. The time-varying viable set is parameterized by time-varying
constraint functions, with the aim to regulate a dynamical control system to be
invariant in the time-varying viable set so that temporal state-dependent
constraints are enforced. We consider both time-varying equality and inequality
constraints in defining a temporal viable set. We also present sufficient
conditions for the existence of feasible control input for the control affine
systems. The developed temporal viability regulation theory is applied to
mobile vehicle coordination.Comment: 7 pages, 3 figures. Submitted to a conference for publicatio