Guaranteed set-point computation with application to the control of a sailboat |
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Authors: | Pau Herrero Luc Jaulin Josep Vehí Miguel A Sainz |
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Affiliation: | 1.CIBER-BBN — Hospital de la Santa Creu i Sant Pau,Barcelona,Spain;2.ENSIETA (Ecole Nationale Supérieure des Ingénieurs des Etudes et Techniques d’Armement),Brest Cédex 09,France;3.Institut d’Informatica i Aplicacions,Universitat de Girona,Girona,Spain |
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Abstract: | The problem of characterizing in a guaranteed way the set of all feasible set-points of a control problem is known to be difficult.
In the present work, the problem to be solved involves non-linear equality constraints with variables affected by logical
quantifiers. This problem is not solvable by current symbolic methods like quantifier elimination, which is commonly used
for solving this class of problems. We propose the utilization of guaranteed set-computation techniques based on interval
analysis, in particular a solver referred to as Quantified Set Inversion (QSI). As an application example, the problem of
simultaneously controlling the speed and the orientation of a sailboat is presented. For this purpose, the combination of
QSI solver and feedback linearization techniques is employed. |
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