On Analysis and Synthesis of Safe Control Laws
(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:
https://lup.lub.lu.se/record/536132
- author
- Rantzer, Anders LU and Prajna, Stephen
- organization
- publishing date
- 2004
- 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}}, }