Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Safety-critical control of discontinuous systems with
nonsmooth safe sets
M. Alyaseen, N. Atanasov, J. Cortés
Automatica, submitted
Abstract
This paper studies the design of controllers for discontinuous
dynamics that ensure the safety of non-smooth sets. The safe set
is represented by arbitrarily nested unions and intersections of
0-superlevel sets of differentiable functions. We show that any
optimization-based controller that satisfies only the point-wise
active safety constraints is generally un-safe, ruling out the
standard techniques developed for safety of continuous dynamics.
This motivates the introduction of the notion of transition
functions, which we employ to formulate a novel version of the
safety constraints. These functions allow system trajectories to
leave a component of the nonsmooth safe set to transition to a
different one. The resulting controller is then defined as the
solution to a convex optimization problem, which we show is
feasible, and continuous wherever the system dynamics is
continuous. We illustrate the effectiveness of the proposed design
approach in a multi-agent reconfiguration control problem.
pdf
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
Skype id:
jorgilliyo