HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Towards a Framework for Realizable Safety Critical Control through Active Set Invariance

Thomas Gurriet 1 Andrew Singletary 2 Jacob Reher 1 Laurent Ciarletta 3, 4 Eric Feron 2 Aaron Ames 1
1 CALTECH - California Institute of Technology
2 Georgia Institute of Technology [Atlanta]
3 MADYNES - Management of dynamic networks and services
Inria Nancy - Grand Est, LORIA - NSS - Department of Networks, Systems and Services
4 SIMBIOT - SIMulating and Building IOT
LORIA - NSS - Department of Networks, Systems and Services
Abstract : This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution of this paper is the development of a control barrier function based methodology which can be used to enforce set invariance on systems in the presence of non-linear disturbances and uncertainty. The first part of this work is a review of the current methods available for finding viable sets and how they are linked to practical choices regarding safety. Their limitations and directions towards improvements when it comes to handling model uncertainty are also highlighted. The second part of this work is the formulation of a condition which can guarantee set invariance in the presence of generic uncertain in the dynamics. An associated optimization problem to enforce that condition is proposed and a method to convexify the problem and make it solvable in real-time is formally presented. The effectiveness of the proposed framework is illustrated experimentally on a two-wheeled inverted pendulum.
Document type :
Conference papers
Complete list of metadata
https://hal.inria.fr/hal-03254787
Contributor : Laurent Ciarletta Connect in order to contact the contributor
Submitted on : Wednesday, June 9, 2021 - 10:37:02 AM
Last modification on : Wednesday, November 3, 2021 - 7:09:02 AM

Identifiers

Collections

UNIV-LORRAINE | INRIA2 | LORIA | LORIA-NSS | CNRS | INRIA

Citation

Thomas Gurriet, Andrew Singletary, Jacob Reher, Laurent Ciarletta, Eric Feron, et al.. Towards a Framework for Realizable Safety Critical Control through Active Set Invariance. ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems, Apr 2018, Porto, Portugal. pp.98-106, ⟨10.1109/ICCPS.2018.00018⟩. ⟨hal-03254787⟩

Export

BibTeX TEI DC DCterms EndNote Datacite

Share

Metrics

Record views

39

 

Contact                    Legal Notice                    Personal Data