Paper Info
Title
Towards a Framework for Realizable Safety Critical Control through Active Set Invariance
Abstract
This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution of this paper is the development of a control barrier function based methodology which can be used to enforce set invariance on systems in the presence of non-linear disturbances and uncertainty. The first part of this work is a review of the current methods available for finding viable sets and how they are linked to practical choices regarding safety. Their limitations and directions towards improvements when it comes to handling model uncertainty are also highlighted. The second part of this work is the formulation of a condition which can guarantee set invariance in the presence of generic uncertain in the dynamics. An associated optimization problem to enforce that condition is proposed and a method to convexify the problem and make it solvable in real-time is formally presented. The effectiveness of the proposed framework is illustrated experimentally on a two-wheeled inverted pendulum.
Year
DOI
Venue
2018
10.1109/ICCPS.2018.00018
2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)
Keywords
Field
DocType
Set invariance,Safety,Non linear control,Real time optimization,Barrier functions
Inverted pendulum,Mathematical optimization,Signal temporal logic,Invariant (physics),Computer science,Nonlinear control,Conflict resolution,Electronic engineering,Smart city,Optimization problem
Conference
ISSN
ISBN
Citations 
2375-8317
978-1-5386-5302-9
2
PageRank 
References 
Authors
0.39
14
6
Name
Order
Citations
PageRank
Thomas Gurriet173.26
Andrew Singletary221.74
Jacob Reher331.08
Laurent Ciarletta4185.12
Eric Feron5428.23
Aaron D. Ames61202136.68