Safety control of piece-wise continuous order preserving systems
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Del Vecchio_Safety control.pdf
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313.7 KB
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ae18b890e72dc0a161fcef30907ebefb
Author(s)
Ghaemi, Reza
Del Vecchio, Domitilla
Date Issued
December 2011
Journal
Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ghaemi, Reza, and Domitilla Del Vecchio 2011 "Safety Control of Piece-wise Continuous Order Preserving Systems." In 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011. IEEE. Pp. 545–551.
Version
Author's final manuscript
Abstract
This paper is concerned with safety control of systems with imperfect state information and disturbance input. Specifically, we consider the class of systems whose dynamics preserve a partial ordering. We provide necessary and sufficient conditions under which a given set of initial states is steerable away from a specified bad set. Moreover, a control strategy is provided that guarantees that the bad set is avoided. Such characterization is achieved for order preserving systems while for general systems only an approximated solution is achievable. A method for implementation of the control strategy is provided and the effectiveness of the proposed method is illustrated via a numerical example and employed for obstacle avoidance of a ship.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/CDC.2011.6160676
