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We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of the state space. We define this space using a Min-Quadratic Barrier function, which we construct along the equilibrium manifold using the Lyapunov functions which result from linear matrix inequality controller synthesis for locally valid uncertain linearizations. We also introduce the concept of a barrier pair, which makes it easy to extend the approach to include trajectory-based augmentations to the safe region, in the style of LQR-Trees. We demonstrate our controller and barrier pair synthesis method in simulation-based examples.
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This type of ba
This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview information is
This article considers the stochastic optimal control of discrete-time linear systems subject to (possibly) unbounded stochastic disturbances, hard constraints on the manipulated variables, and joint chance constraints on the states. A tractable conv
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major minimization pr
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear controller a