TY - GEN
T1 - Safety driving of the Dubins' car
AU - Marigo, Alessia
AU - Piccoli, Benedetto
N1 - Publisher Copyright:
Copyright © 2002 IFAC.
PY - 2002
Y1 - 2002
N2 - In this paper we consider the problem of safe driving of the Dubins' car on a straight road where the steering control is in the form (1 - h)s + hv where v represents a free control and s is an automatic control preventing the system from undesired behaviors that may result from the action of v. We design the safety control s steering the car to the center of the road in minimum time which fact implies to consider discontinuous feedbacks, hence to face the problem of deining a solution to a system with a discontinuous right hand side, and to deal with the deinition of regular synthesis used in optimal control. We thus consider generalized solutions in Krasowskii and Filippov sense and guarantee that these solutions have a good behavior, i.e., when only s is acting (h = 0) the generalized solutions coincide with the optimal synthesis trajectories. Finally, we illustrate our strategy by simulations.
AB - In this paper we consider the problem of safe driving of the Dubins' car on a straight road where the steering control is in the form (1 - h)s + hv where v represents a free control and s is an automatic control preventing the system from undesired behaviors that may result from the action of v. We design the safety control s steering the car to the center of the road in minimum time which fact implies to consider discontinuous feedbacks, hence to face the problem of deining a solution to a system with a discontinuous right hand side, and to deal with the deinition of regular synthesis used in optimal control. We thus consider generalized solutions in Krasowskii and Filippov sense and guarantee that these solutions have a good behavior, i.e., when only s is acting (h = 0) the generalized solutions coincide with the optimal synthesis trajectories. Finally, we illustrate our strategy by simulations.
KW - Cooperative controls
KW - Differential inclusions
KW - Optimal feedbacks
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U2 - 10.3182/20020721-6-es-1901.01580
DO - 10.3182/20020721-6-es-1901.01580
M3 - Conference contribution
AN - SCOPUS:84945578657
SN - 9783902661746
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 161
EP - 166
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
A2 - Ferrate, Gabriel
A2 - Camacho, Eduardo F.
A2 - Basanez, Luis
A2 - de la Puente, Juan. A.
PB - IFAC Secretariat
T2 - 15th World Congress of the International Federation of Automatic Control, 2002
Y2 - 21 July 2002 through 26 July 2002
ER -