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On Analysis and Synthesis of Safe Control Laws

Rantzer, Anders LU and Prajna, Stephen (2004) In Proceedings of the Allerton Conference on Communication, Control, and Computing
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.
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Chapter in Book/Report/Conference proceeding
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published
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Proceedings of the Allerton Conference on Communication, Control, and Computing
publisher
Allerton Conference
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
2007-09-24 16:44:12
date last changed
2016-04-16 09:32:21
@misc{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},
  language     = {eng},
  publisher    = {ARRAY(0x8654c68)},
  series       = {Proceedings of the Allerton Conference on Communication, Control, and Computing},
  title        = {On Analysis and Synthesis of Safe Control Laws},
  year         = {2004},
}