Safety control of piece-wise continuous order preserving systems
Author(s)Ghaemi, Reza; Del Vecchio, Domitilla
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
Institute of Electrical and Electronics Engineers
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.
Author's final manuscript