For a class of positive matrices A+K with a stable positive nominal part A and a structured positive perturbation part K , we address the problem of finding the largest set of admissible perturbations such that the global matrix remains stable. Theoretical bounds are derived and an algorithm for constructing this set is presented. As an example, this algorithm is applied to the regulation of wa...

A procedure is described for preventing cycling in active-set methods for linearly constrained optimization, including the simplex method. The key ideas are a limited acceptance ofinfeasibilities in all variables, and maintenance of a "working" feasibility tolerance that increases over a long sequence of iterations. The additional work per iteration is nominal, and "stalling" cannot occur with ...

| This paper deals with the problem of planning and controlling the motion of a car like mobile moving in a dynamic and roadway like environment. The contribution presented here is a motion controller which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type \reach location l at time t l ". Data concerning t...

| This paper deals with the problem of planning and controlling the motion of a car like vehicle moving in a dynamic and roadway like environment. The contribution presented here is a motion controller which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type \reach location l at time t l ". Data concerning ...