Scalable Safety-Preserving Robust Control Synthesis for Continuous-Time Linear Systems

DOI10.1109/TAC.2015.2411872MaRDI QIDQ2982527zbMATH OpenOpenAlexDBLPWikidataFDO

Authors

Publication date 16 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1312.3399

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Synthesis problems (93B50) Linear systems in control theory (93C05) Control/observation systems with incomplete information (93C41)

Abstract: We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturbance or uncertainty. The approach relies upon a conservative approximation of the discriminating kernel using robust maximal reachable sets---an extension of our earlier work on computation of the viability kernel for high-dimensional systems. Based on ellipsoidal techniques for reachability, a piecewise ellipsoidal algorithm with polynomial complexity is described that under-approximates the discriminating kernel under LTI dynamics. This precomputed piecewise ellipsoidal set is then used online to synthesize a permissive state-feedback safety-preserving controller. The controller is modeled as a hybrid automaton and can be formulated such that under certain conditions the resulting control signal is continuous across its transitions. We show the performance of the controller on a twelve-dimensional flight envelope protection problem for a quadrotor with actuation saturation and unknown wind disturbances.

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Cited in

(4)

• The computation of the viability kernel for switched systems
• Viable immersion and invariance control for a class of nonlinear systems and its application to aero-engines
• Fast and guaranteed safe controller synthesis for nonlinear vehicle models
• Model-invariant viability kernel approximation

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