Robust Safe Control with Multi-Modal Uncertainty Article Swipe
Tianhao Wei
,
Liqian Ma
,
Ravi Pandya
,
Changliu Liu
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.16830
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.16830
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To address the problem, we introduce a novel framework for robust safe control, tailored to accommodate multi-modal Gaussian dynamics uncertainties and control limits. We first present an innovative method for deriving the least conservative robust safe control under additive multi-modal uncertainties. Next, we propose a strategy to identify a locally least-conservative robust safe control under multiplicative uncertainties. Following these, we introduce a unique safety index synthesis method. This provides the foundation for a robust safe controller that ensures a high probability of realizability under control limits and multi-modal uncertainties. Experiments on a simulated Segway validate our approach, showing consistent realizability and less conservatism than controllers designed using uni-modal uncertainty methods. The framework offers significant potential for enhancing safety and performance in robotic applications.
Related Topics
Concepts
Modal
Realizability
Robust control
Computer science
Control theory (sociology)
Controller (irrigation)
Control engineering
Control (management)
Mathematical optimization
Engineering
Control system
Mathematics
Algorithm
Artificial intelligence
Chemistry
Agronomy
Biology
Polymer chemistry
Electrical engineering
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2309.16830
- https://arxiv.org/pdf/2309.16830
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4387293300
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4387293300Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2309.16830Digital Object Identifier
- Title
-
Robust Safe Control with Multi-Modal UncertaintyWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-09-28Full publication date if available
- Authors
-
Tianhao Wei, Liqian Ma, Ravi Pandya, Changliu LiuList of authors in order
- Landing page
-
https://arxiv.org/abs/2309.16830Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2309.16830Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2309.16830Direct OA link when available
- Concepts
-
Modal, Realizability, Robust control, Computer science, Control theory (sociology), Controller (irrigation), Control engineering, Control (management), Mathematical optimization, Engineering, Control system, Mathematics, Algorithm, Artificial intelligence, Chemistry, Agronomy, Biology, Polymer chemistry, Electrical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.foundation | 99 |
| abstract_inverted_index.innovative | 56 |
| abstract_inverted_index.Experiments | 118 |
| abstract_inverted_index.accommodate | 44 |
| abstract_inverted_index.controllers | 133 |
| abstract_inverted_index.multi-modal | 27, 45, 68, 116 |
| abstract_inverted_index.performance | 148 |
| abstract_inverted_index.probability | 109 |
| abstract_inverted_index.significant | 142 |
| abstract_inverted_index.uncertainty | 137 |
| abstract_inverted_index.conservatism | 131 |
| abstract_inverted_index.conservative | 22, 62 |
| abstract_inverted_index.controllers, | 12 |
| abstract_inverted_index.applications. | 151 |
| abstract_inverted_index.realizability | 111, 128 |
| abstract_inverted_index.uncertainties | 6, 48 |
| abstract_inverted_index.multiplicative | 84 |
| abstract_inverted_index.uncertainties, | 17 |
| abstract_inverted_index.uncertainties. | 28, 69, 85, 117 |
| abstract_inverted_index.least-conservative | 79 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile |