arXiv Open Access 2023

Safety Index Synthesis with State-dependent Control Space

Rui Chen Weiye Zhao Changliu Liu

Lihat Sumber

Abstrak

This paper introduces an approach for synthesizing feasible safety indices to derive safe control laws under state-dependent control spaces. The problem, referred to as Safety Index Synthesis (SIS), is challenging because it requires the existence of feasible control input in all states and leads to an infinite number of constraints. The proposed method leverages Positivstellensatz to formulate SIS as a nonlinear programming (NP) problem. We formally prove that the NP solutions yield safe control laws with two imperative guarantees: forward invariance within user-defined safe regions and finite-time convergence to those regions. A numerical study validates the effectiveness of our approach.

Topik & Kata Kunci

eess.SY

Penulis (3)

Rui Chen

Weiye Zhao

Changliu Liu

Format Sitasi

APA MLA BibTeX

Chen, R., Zhao, W., Liu, C. (2023). Safety Index Synthesis with State-dependent Control Space. https://arxiv.org/abs/2309.12406

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2023
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓