A Scalable Safety Critical Control Framework for Nonlinear Systems

A Scalable Safety Critical Control Framework for Nonlinear Systems

There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the ability to realize Model-Predictive-Controllers onlin...

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Bibliographic Details
Main Authors: Thomas Gurriet, Mark Mote, Andrew Singletary, Petter Nilsson, Eric Feron, Aaron D. Ames
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Safety-critical control
nonlinear control
real-time optimization
optimal control
viability theory
barrier functions
Online Access:https://ieeexplore.ieee.org/document/9199824/

Internet

https://ieeexplore.ieee.org/document/9199824/

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