Control for Safety Specifications of Systems With Imperfect Information on a Partial Order
Name
Del Vecchio_Control for.pdf
Size
537.28 KB
Format
Adobe PDF
Checksum (MD5)
364e0a2d96c68d5eeae9bbf0f94b6bf0
Author(s)
Ghaemi, Reza
Del Vecchio, Domitilla
Date Issued
March 2014
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Ghaemi, Reza, and Domitilla Del Vecchio. “Control for Safety Specifications of Systems With Imperfect Information on a Partial Order.” IEEE Trans. Automat. Contr. 59, no. 4 (April 2014): 982–995.
Version
Author's final manuscript
Abstract
In this paper, we consider the control problem for uncertain systems with imperfect information, in which an output of interest must be kept outside an undesired region (the bad set) in the output space. The state, input, output, and disturbance spaces are equipped with partial orders. The system dynamics are either input/output order preserving with output in R[superscript 2] or given by the parallel composition of input/output order preserving dynamics each with scalar output. We provide necessary and sufficient conditions under which an initial set of possible system states is safe, that is, the corresponding outputs are steerable away from the bad set with open loop controls. A closed loop control strategy is explicitly constructed, which guarantees that the current set of possible system states, as obtained from an estimator, generates outputs that never enter the bad set. The complexity of algorithms that check safety of an initial set of states and implement the control map is quadratic with the dimension of the state space. The algorithms are illustrated on two application examples: a ship maneuver to avoid an obstacle and safe navigation of an helicopter among buildings.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tac.2014.2301563
