Back to Search
Start Over
Safety Controller Synthesis Using Human Generated Trajectories
- Source :
- IEEE Transactions on Automatic Control. 60:1597-1610
- Publication Year :
- 2015
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2015.
-
Abstract
- This paper focuses on the task of safety controller synthesis, that is, designing a controller that will take a system from any point within a compact set of initial states to a point inside a set of acceptable goal states, while never entering any state that is deemed unsafe. To do this we use a human generated trajectory-based approach. We introduce the control autobisimulation function, which is the analog of the control Lyapunov function for approximate bisimulation. We consider a class of hybrid systems and use this function to determine a set of admissible feedback control laws that guarantee trajectory robustness for underlying dynamics that are linear affine, feedback linearizable, and differentially flat. This property ensures that any trajectory of the closed-loop system that is initialized within some neighborhood of a nominal trajectory will stay within some tube of the nominal trajectory when given the same input. This feedback control and input can be used as the controller for some subset of the initial states. We demonstrate how to combine multiple trajectories into a synthesized controller that satisfies the safety problem.
- Subjects :
- Bisimulation
Mathematical optimization
Feedback control
Computer Science Applications
Compact space
Aerospace electronics
Control and Systems Engineering
Control theory
Robustness (computer science)
Hybrid system
Affine transformation
Electrical and Electronic Engineering
Control-Lyapunov function
Mathematics
Subjects
Details
- ISSN :
- 15582523 and 00189286
- Volume :
- 60
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Automatic Control
- Accession number :
- edsair.doi...........a61b6ee7d2b3fd2900dae12a7f5695a2