Safety control of piece-wise continuous order preserving systems
This paper is concerned with safety control of systems with imperfect state information and disturbance input. Specifically, we consider the class of systems whose dynamics preserve a partial ordering. We provide necessary and sufficient conditions under which a given set of initial states is steera...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2013
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| Online Access: | http://hdl.handle.net/1721.1/78650 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826209460821950464 |
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| author | Ghaemi, Reza Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Ghaemi, Reza Del Vecchio, Domitilla |
| author_sort | Ghaemi, Reza |
| collection | MIT |
| description | This paper is concerned with safety control of systems with imperfect state information and disturbance input. Specifically, we consider the class of systems whose dynamics preserve a partial ordering. We provide necessary and sufficient conditions under which a given set of initial states is steerable away from a specified bad set. Moreover, a control strategy is provided that guarantees that the bad set is avoided. Such characterization is achieved for order preserving systems while for general systems only an approximated solution is achievable. A method for implementation of the control strategy is provided and the effectiveness of the proposed method is illustrated via a numerical example and employed for obstacle avoidance of a ship. |
| first_indexed | 2024-09-23T14:22:52Z |
| format | Article |
| id | mit-1721.1/78650 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:22:52Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/786502022-09-29T09:04:07Z Safety control of piece-wise continuous order preserving systems Ghaemi, Reza Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Ghaemi, Reza Del Vecchio, Domitilla This paper is concerned with safety control of systems with imperfect state information and disturbance input. Specifically, we consider the class of systems whose dynamics preserve a partial ordering. We provide necessary and sufficient conditions under which a given set of initial states is steerable away from a specified bad set. Moreover, a control strategy is provided that guarantees that the bad set is avoided. Such characterization is achieved for order preserving systems while for general systems only an approximated solution is achievable. A method for implementation of the control strategy is provided and the effectiveness of the proposed method is illustrated via a numerical example and employed for obstacle avoidance of a ship. National Science Foundation (U.S.) (NSF CAREER AWARD # CNS-0642719) 2013-05-01T16:05:10Z 2013-05-01T16:05:10Z 2011-12 Article http://purl.org/eprint/type/ConferencePaper 978-1-61284-799-3 978-1-61284-800-6 0743-1546 http://hdl.handle.net/1721.1/78650 Ghaemi, Reza, and Domitilla Del Vecchio 2011 "Safety Control of Piece-wise Continuous Order Preserving Systems." In 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011. IEEE. Pp. 545–551. https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/CDC.2011.6160676 Proceedings of the 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers MIT web domain |
| spellingShingle | Ghaemi, Reza Del Vecchio, Domitilla Safety control of piece-wise continuous order preserving systems |
| title | Safety control of piece-wise continuous order preserving systems |
| title_full | Safety control of piece-wise continuous order preserving systems |
| title_fullStr | Safety control of piece-wise continuous order preserving systems |
| title_full_unstemmed | Safety control of piece-wise continuous order preserving systems |
| title_short | Safety control of piece-wise continuous order preserving systems |
| title_sort | safety control of piece wise continuous order preserving systems |
| url | http://hdl.handle.net/1721.1/78650 https://orcid.org/0000-0001-6472-8576 |
| work_keys_str_mv | AT ghaemireza safetycontrolofpiecewisecontinuousorderpreservingsystems AT delvecchiodomitilla safetycontrolofpiecewisecontinuousorderpreservingsystems |