Feasibility and regularity analysis of safe stabilizing controllers under uncertainty☆

被引：4

作者：

Mestres, Pol ^{[1
]}

Cortes, Jorge ^{[1
]}

机构：

[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

来源：

AUTOMATICA | 2024年 / 167卷

关键词：

Safety -critical control; Control barrier functions; Optimization -based control design; Constraint feasibility; Worst-case and probabilistic uncertainty; QUADRATIC PROGRAMS; BARRIER FUNCTIONS; OPTIMIZATION;

D O I：

10.1016/j.automatica.2024.111800

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics, a control barrier function (CBF) and a control Lyapunov function (CLF). These descriptions give rise to second-order cone constraints (SOCCs) whose simultaneous satisfaction guarantees safe stabilization. We study the feasibility of such SOCCs and the regularity properties of various controllers satisfying them. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

引用

页数：9

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