Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Feasibility and regularity analysis of safe
stabilizing controllers under uncertainty
P. Mestres, J. Cortés
Automatica 167 (2024), 111800
Abstract
This paper studies the problem of safe stabilization of
control-affine systems under uncertainty. Our starting
point is the availability of worst-case or probabilistic
error descriptions for the dynamics, a control barrier
function (CBF) and a control Lyapunov function
(CLF). These descriptions give rise to second-order cone
constraints (SOCCs) whose simultaneous satisfaction
guarantees safe stabilization. We study the feasibility
of such SOCCs and the regularity properties of various
controllers satisfying them.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo