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Towards a Framework for Realizable Safety Critical Control through Active Set Invariance

Gurriet, Thomas and Singletary, Andrew and Reher, Jacob and Ciarletta, Laurent and Feron, Eric and Ames, Aaron (2018) Towards a Framework for Realizable Safety Critical Control through Active Set Invariance. In: 2018 9th ACM/IEEE International Conference on Cyber-Physical Systems. IEEE , Piscataway, NJ, pp. 98-106.

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This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution of this paper is the development of a control barrier function based methodology which can be used to enforce set invariance on systems in the presence of non-linear disturbances and uncertainty. The first part of this work is a review of the current methods available for finding viable sets and how they are linked to practical choices regarding safety. Their limitations and directions towards improvements when it comes to handling model uncertainty are also highlighted. The second part of this work is the formulation of a condition which can guarantee set invariance in the presence of generic uncertain in the dynamics. An associated optimization problem to enforce that condition is proposed and a method to convexify the problem and make it solvable in real-time is formally presented. The effectiveness of the proposed framework is illustrated experimentally on a two-wheeled inverted pendulum.

Item Type:Book Section
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URLURL TypeDescription
Gurriet, Thomas0000-0002-5240-3720
Singletary, Andrew0000-0001-6635-4256
Feron, Eric0000-0001-7717-2159
Ames, Aaron0000-0003-0848-3177
Additional Information:© 2018 IEEE. This work is supported by NSF CPS award #1724457.
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Record Number:CaltechAUTHORS:20180423-111212976
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:86012
Deposited By: Tony Diaz
Deposited On:25 Apr 2018 18:05
Last Modified:15 Nov 2021 20:34

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