Geodesic
On the Solution of the Trajectory Survival Problem for a~Nonlinear Dynamical System
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 146-155.

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Nonlinear control systems possessing the flatness property are encountered in many applied mathematical models. In this paper, a trajectory survival problem is considered for a specific nonlinear system that possesses the above property. A method based on the properties of the system is proposed for constructing a control that solves the trajectory survival problem when the controlled object moves to the goal set within a bounding set containing an obstacle. Results of numerical calculations of the control and the trajectory of a system with a given initial position are presented. 
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L. N. Luk'yanova. On the Solution of the Trajectory Survival Problem for a~Nonlinear Dynamical System. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 146-155. http://geodesic.mathdoc.fr/item/TM_2008_262_a10/

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