Name
Abstract | ||
|---|---|---|
We introduce a hybrid (discrete continuous) safety controller which enforces strict state and input constraints on a system but only acts when necessary, preserving transparent operation of the original system within some safe region of the state space. We define this space using a Min-Quadratic Barrier function, which we construct along the equilibrium manifold using the Lyapunov functions which result from linear matrix inequality controller synthesis for locally valid uncertain linearizations. We also introduce the concept of a barrier pair, which makes it easy to extend the approach to include trajectory-based augmentations to the safe region, in the style of LOB-Trees. We demonstrate our controller and barrier pair synthesis method in simulation-based examples. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.23919/acc.2018.8431457 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) |
DocType | Volume | ISSN |
Conference | abs/1802.10188 | 0743-1619 |
Citations | PageRank | References |
1 | 0.39 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gray C. Thomas | 1 | 48 | 6.31 |
| Binghan He | 2 | 1 | 1.40 |
| Luis Sentis | 3 | 574 | 59.74 |