Robust safety controller synthesis using tubes

Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In this paper, we investigate the reachability analysis and safety controller synthesis problem for linear discrete-Time systems under additive bounded disturbances. We consider the following problem; design a state feedback controller such that any state trajectories starting from an initial set can be robustly controlled towards a target one in finite time, while at the same time avoiding any prohibited regions. One of the potential disadvantages of existing reachability algorithms when external disturbances are taken into account, may be that the solution to guarantee reachability becomes conservative. Motivated by this, this paper provides a new controller synthesis framework based on the notion of tube-based control strategy, in which a suitable sequence of polytopes is generated according to a convex feasibility problem. An illustrative simulation validates the effectiveness of our proposed method.

Original languageEnglish
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781509028733
Publication statusPublished - 2018 Jan 18
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: 2017 Dec 122017 Dec 15


Other56th IEEE Annual Conference on Decision and Control, CDC 2017

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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