Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

On Analysis and Synthesis of Safe Control Laws

Rantzer, Anders LU orcid and Prajna, Stephen (2004)
Abstract
Controller synthesis for nonlinear systems is considered with the following objective: No trajectory starting from a given set of initial states is allowed to enter into a given set of forbidden (unsafe) states. A methodology for safety verification using barrier certificates has recently been proposed. Here it is shown how a safe control law together with a corresponding barrier certificate can be computated by means of convex optimization. A basic tool is thetheory for density functions in analysis of nonlinear systems.Computational examples are considered.
Please use this url to cite or link to this publication:
author
and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proceedings of the Allerton Conference on Communication, Control, and Computing
language
English
LU publication?
yes
id
e5f8b425-4290-4c39-83e8-66469881244a (old id 536132)
alternative location
http://www.cds.caltech.edu/~prajna/papers/Allerton04.pdf
date added to LUP
2016-04-04 11:39:54
date last changed
2019-09-20 12:24:37
@inproceedings{e5f8b425-4290-4c39-83e8-66469881244a,
  abstract     = {{Controller synthesis for nonlinear systems is considered with the following objective: No trajectory starting from a given set of initial states is allowed to enter into a given set of forbidden (unsafe) states. A methodology for safety verification using barrier certificates has recently been proposed. Here it is shown how a safe control law together with a corresponding barrier certificate can be computated by means of convex optimization. A basic tool is thetheory for density functions in analysis of nonlinear systems.Computational examples are considered.}},
  author       = {{Rantzer, Anders and Prajna, Stephen}},
  booktitle    = {{Proceedings of the Allerton Conference on Communication, Control, and Computing}},
  language     = {{eng}},
  title        = {{On Analysis and Synthesis of Safe Control Laws}},
  url          = {{https://lup.lub.lu.se/search/files/5826557/625620.pdf}},
  year         = {{2004}},
}