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On Analysis and Synthesis of Safe Control Laws

Rantzer, Anders LU 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
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
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
2018-11-21 21:06:22
@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},
  language     = {eng},
  publisher    = {Allerton Conference},
  title        = {On Analysis and Synthesis of Safe Control Laws},
  year         = {2004},
}