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An Online Approach to Active Set Invariance

Gurriet, Thomas and Mote, Mark and Ames, Aaron D. and Feron, Eric (2018) An Online Approach to Active Set Invariance. In: 2018 IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 3592-3599. ISBN 9781538613955. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135634887

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Abstract

This paper presents an online approach to safety critical control. The common approach for enforcing safety of a system requires the offline computation of a viable set, which is either hard and time consuming or very restrictive in terms of operational freedom for the system. The first part of this work shows how one can constrain a system to stay within reach of an appropriately chosen backup set in a minimally invasive way by performing online sensitivity analysis around a backup trajectory. For linear systems, we show how to use an optimal backup strategy in the form of a Model Predictive Controller (MPC) to maximize the operational freedom of the system. The second part of this work shows how to leverage this capability and factor in state constraints to enforce set invariance only based on online computations of sensitivities. For linear systems, the optimal strategy is again considered and we show how one can perform the sensitivity analysis based on a measure of feasibility of a state constrained MPC. This approach is illustrated in simulation on a linear inverted pendulum.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/cdc.2018.8619139DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 IEEE. This work is supported by NSF awards #1724464, #1724457, #1446758 and #1555332.
Funders:
Funding AgencyGrant Number
NSFIIS-1724464
NSFCNS-1724457
NSFCNS-1446758
NSFECCS-1555332
Record Number:CaltechAUTHORS:20190201-135634887
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190201-135634887
Official Citation:T. Gurriet, M. Mote, A. D. Ames and E. Feron, "An Online Approach to Active Set Invariance," 2018 IEEE Conference on Decision and Control (CDC), FL, USA, 2018, pp. 3592-3599. doi: 10.1109/CDC.2018.8619139
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92579
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:01 Feb 2019 22:49
Last Modified:03 Oct 2019 20:46

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