On Analysis and Synthesis of Safe Control Laws
On Analysis and Synthesis of Safe Control Laws
复制标题
浅谈安全控制律的分析与综合
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
S. Prajna
中科院分区：
文献类型：
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作者：
A. Rantzer;S. Prajna
非线性系统的控制器综合考虑以下目标：从给定的一组初始状态开始的轨迹不允许进入给定的一组禁止（不安全）状态。最近提出了一种使用屏障证书进行安全验证的方法。这里展示了如何通过凸优化来计算安全控制律以及相应的证书。非线性系统分析中的一个基本工具是密度函数理论。考虑了计算示例。
Controller synthesis for nonlinear systems is considered with the following ob- jective: no trajectory starting from a given set of initial states is allowed to enter into a given set of forbidden (unsafe) states. A methodology for safety verification using barrier certificates has recently been proposed. Here it is shown how a safe control law together with a corresponding certificate can be computed by means of convex optimization. A basic tool is the theory for density functions in analysis of nonlinear systems. Computational examples are considered.