Control for Safety Specifications of Systems With Imperfect Information on a Partial Order
Author(s)Ghaemi, Reza; Del Vecchio, Domitilla
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
IEEE Transactions on Automatic Control
Institute of Electrical and Electronics Engineers (IEEE)
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.
Author's final manuscript