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arXiv · 1302.1225

On Barriers in State and Input Constrained Nonlinear Systems

José A. De Doná·Jean Lévine
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Abstract

In this paper, the problem of state and input constrained control is addressed, with multidimensional constraints. We obtain a local description of the boundary of the admissible subset of the state space where the state and input constraints can be satisfied \emph{for all times}. This boundary is made of two disjoint parts: the subset of the state constraint boundary on which there are trajectories pointing towards the interior of the admissible set or tangentially to it; and a barrier, namely a semipermeable surface which is constructed via a minimum-like principle.

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José A. De Doná, Jean Lévine. 2013-02-05. On Barriers in State and Input Constrained Nonlinear Systems. https://doi.org/10.1137/130908786

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