Invariant Configuration-Space Bubbles for Revolute Serial-Chain Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3224685
Abstract: This letter adapts the invariant-set motion planner (ISMP) for robot motion planning. We derive control invariant subsets of configuration-space bubbles lifted into the state-space. The resulting sets guarantee collision avoidance since they are both constraint… read more here.
Keywords: invariant configuration; space; control; control invariant ... See more keywords
Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2023.3275305
Abstract: —Ensuring robust constraint satisfaction for an infinite time horizon is a challenging, yet crucial task when deploying safety-critical systems. We address this issue by synthesizing robust control invariant sets for perturbed nonlinear sampled-data systems. This… read more here.
Keywords: computation robust; control; control invariant; robust control ... See more keywords
Data-Driven Computation of Robust Control Invariant Sets With Concurrent Model Selection
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3069759
Abstract: Set invariance in the presence of uncertainty and disturbance is of central importance for the safety of control systems. This article proposes a data-driven method to compute an approximation of a minimal robust control invariant… read more here.
Keywords: control; robust control; model; computation ... See more keywords