TY - GEN
T1 - Robust safety controller synthesis using tubes
AU - Hashimoto, Kazumune
AU - Adachi, Shuichi
AU - Dimarogonas, Dimos V.
N1 - Funding Information:
Dimos V. Dimarogonas is with the ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden. His work was supported by the Swedish Research Council (VR), Knut och Alice Wallenberg foundation (KAW), and the H2020 ERC Starting Grant BUCOPHSYS.
Funding Information:
Kazumune Hashimoto is with Department of Applied Physics and Physico-Informatics, Keio University, Yokohama, Japan. His work is supported by Grant-in-Aid for JSPS Research Fellow (Grant Number: 17J05743).
Publisher Copyright:
© 2017 IEEE.
PY - 2018/1/18
Y1 - 2018/1/18
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85046124248&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2017.8263718
DO - 10.1109/CDC.2017.8263718
M3 - Conference contribution
AN - SCOPUS:85046124248
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 535
EP - 541
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
Y2 - 12 December 2017 through 15 December 2017
ER -