Jorge Cortés

Professor

Cymer Corporation Endowed Chair





Feasibility and regularity analysis of safe stabilizing controllers under uncertainty
P. Mestres, J. Cortés
Automatica, submitted


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
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