Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order
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Hafner-2011-COMPUTATIONAL TOOLS.pdf
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1.51 MB
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Adobe PDF
Checksum (MD5)
8a550d86cae81c6ce13e2c61d7dbf83b
Author(s)
Hafner, Michael R.
Del Vecchio, Domitilla
Date Issued
December 2011
Journal
SIAM Journal on Control and Optimization
Publisher
Society for Industrial and Applied Mathematics
Citation
Hafner, Michael R., and Domitilla Del Vecchio. “Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order.” SIAM Journal on Control and Optimization 49.6 (2011): 2463. © 2011 Society for Industrial and Applied Mathematics
Version
Final published version
Abstract
This paper addresses the two-agent safety control problem for piecewise continuous systems with disturbances and imperfect state information. In particular, we focus on a class of systems that evolve on a partial order and whose dynamics preserve the ordering. While the safety control problem with imperfect state information is prohibitive for general classes of nonlinear and hybrid systems, the class of systems considered in this paper admits an explicit solution. We compute this solution with linear complexity discrete-time algorithms that are guaranteed to terminate. The proposed algorithms are illustrated on a two-vehicle collision avoidance problem and implemented on a hardware roundabout test-bed.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://doi.org/10.1137/090761203
