Towards a Framework for Realizable Safety Critical Control through Active Set Invariance
| Autor: | Andrew Singletary, Laurent Ciarletta, Jacob Reher, Aaron D. Ames, Thomas Gurriet, Eric Feron |
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| Přispěvatelé: | California Institute of Technology (CALTECH), Georgia Institute of Technology [Atlanta], Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Optimization problem Computer science Control (management) Cyber-physical system 010103 numerical & computational mathematics 02 engineering and technology Nonlinear control 01 natural sciences Inverted pendulum Kernel (linear algebra) [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI] 020901 industrial engineering & automation Control system 0101 mathematics Set (psychology) |
| Zdroj: | ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems, Apr 2018, Porto, Portugal. pp.98-106, ⟨10.1109/ICCPS.2018.00018⟩ ICCPS |
| DOI: | 10.1109/ICCPS.2018.00018⟩ |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
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