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Realizable Set Invariance Conditions for Cyber-Physical Systems

Gurriet, Thomas and Nilsson, Petter and Singletary, Andrew and Ames, Aaron D. (2019) Realizable Set Invariance Conditions for Cyber-Physical Systems. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3642-3649. ISBN 978-1-5386-7926-5.

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There is currently a gap between control-theoretical results and the reality of robotic implementations-this makes it difficult to transfer analytical guarantees to practice. This problem is especially troubling when it comes to safety guarantees for safety-critical systems. In this paper we seek to help bridge this gap. We first make a clear theoretical distinction between a system and a model, and outline how the two need to be related for guarantees to transfer from the latter to the former. We then introduce various imperfections into the model, including uncertainty in actuation and sensing, as well as time discretization effects from digital control implementations. These assumptions lead to new criteria for controlled invariance to be realizable. We investigate these criteria and propose a digital control implementation for enforcing safety in the presence of uncertainty. Our ideas are illustrated with a numerical example where a ground robot satisfies safety constraints in the presence of perception noise.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Gurriet, Thomas0000-0002-5240-3720
Nilsson, Petter0000-0001-8748-6936
Singletary, Andrew0000-0001-6635-4256
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 AACC. This work was supported by NSF CPS award #1724457 and a grant from the NASA JPL President’s and Director’s Fund.
Funding AgencyGrant Number
JPL President and Director's FundUNSPECIFIED
Record Number:CaltechAUTHORS:20190905-142648478
Persistent URL:
Official Citation:T. Gurriet, P. Nilsson, A. Singletary and A. D. Ames, "Realizable Set Invariance Conditions for Cyber-Physical Systems," 2019 American Control Conference (ACC), Philadelphia, PA, USA, 2019, pp. 3642-3649. URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:98439
Deposited By: Tony Diaz
Deposited On:05 Sep 2019 22:38
Last Modified:16 Nov 2021 17:39

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