Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3231970
Abstract: Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use loose over-approximation… read more here.
Keywords: safety; control; control limits; safe control ... See more keywords
Safe Control Synthesis With Uncertain Dynamics and Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3182544
Abstract: This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control Lyapunov function (CLF)… read more here.
Keywords: safe control; worst case; control; control synthesis ... See more keywords