Alex Dorsey

Reach-Stabilize Control of Control-Affine Systems with Unknown Affine Parameters

This paper considers the reach-stabilize prob- lem for a class of nonlinear control-affine systems with unknown parametric uncertainties, where the system states must remain in a safe set at all times, or enter a safe set in finite time and then remain in it, and converge to a goal point. An estimator is designed that...