Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order
This paper addresses the two-agent safety control problem for piecewise continuous systems with disturbances and imperfect state information. In particular, we focus on a class of systems that evolve on a partial order and whose dynamics preserve the ordering. While the safety control problem with i...
| Auteurs principaux: | , |
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| Autres auteurs: | |
| Format: | Article |
| Langue: | en_US |
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Society for Industrial and Applied Mathematics
2012
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| Accès en ligne: | http://hdl.handle.net/1721.1/72112 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826199215839117312 |
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| author | Hafner, Michael R. Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Hafner, Michael R. Del Vecchio, Domitilla |
| author_sort | Hafner, Michael R. |
| collection | MIT |
| description | This paper addresses the two-agent safety control problem for piecewise continuous systems with disturbances and imperfect state information. In particular, we focus on a class of systems that evolve on a partial order and whose dynamics preserve the ordering. While the safety control problem with imperfect state information is prohibitive for general classes of nonlinear and hybrid systems, the class of systems considered in this paper admits an explicit solution. We compute this solution with linear complexity discrete-time algorithms that are guaranteed to terminate. The proposed algorithms are illustrated on a two-vehicle collision avoidance problem and implemented on a hardware roundabout test-bed. |
| first_indexed | 2024-09-23T11:16:15Z |
| format | Article |
| id | mit-1721.1/72112 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:16:15Z |
| publishDate | 2012 |
| publisher | Society for Industrial and Applied Mathematics |
| record_format | dspace |
| spelling | mit-1721.1/721122022-09-27T18:19:23Z Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order Hafner, Michael R. Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Del Vecchio, Domitilla Del Vecchio, Domitilla This paper addresses the two-agent safety control problem for piecewise continuous systems with disturbances and imperfect state information. In particular, we focus on a class of systems that evolve on a partial order and whose dynamics preserve the ordering. While the safety control problem with imperfect state information is prohibitive for general classes of nonlinear and hybrid systems, the class of systems considered in this paper admits an explicit solution. We compute this solution with linear complexity discrete-time algorithms that are guaranteed to terminate. The proposed algorithms are illustrated on a two-vehicle collision avoidance problem and implemented on a hardware roundabout test-bed. 2012-08-14T14:02:43Z 2012-08-14T14:02:43Z 2011-12 2009-06 Article http://purl.org/eprint/type/JournalArticle 0363-0129 1095-7138 http://hdl.handle.net/1721.1/72112 Hafner, Michael R., and Domitilla Del Vecchio. “Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order.” SIAM Journal on Control and Optimization 49.6 (2011): 2463. © 2011 Society for Industrial and Applied Mathematics https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1137/090761203 SIAM Journal on Control and Optimization Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Society for Industrial and Applied Mathematics SIAM |
| spellingShingle | Hafner, Michael R. Del Vecchio, Domitilla Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title | Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title_full | Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title_fullStr | Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title_full_unstemmed | Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title_short | Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order |
| title_sort | computational tools for the safety control of a class of piecewise continuous systems with imperfect information on a partial order |
| url | http://hdl.handle.net/1721.1/72112 https://orcid.org/0000-0001-6472-8576 |
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