Robust safety controller synthesis using tubes

Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ535-541
ページ数7
ISBN(電子版)9781509028733
DOI
出版ステータスPublished - 2018 1月 18
イベント56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
継続期間: 2017 12月 122017 12月 15

出版物シリーズ

名前2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
国/地域Australia
CityMelbourne
Period17/12/1217/12/15

ASJC Scopus subject areas

  • 決定科学(その他)
  • 産業および生産工学
  • 制御と最適化

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