Robustness Analysis of Systems' Safety through a New Notion of Input-to-State Safety

In this paper, we propose a new robustness notion that is applicable for certifying systems' safety with respect to external disturbance signals. The proposed input-to-state safety (ISSf) notion allows us to certify systems' safety in the presence of the disturbances which is analogous to the notion of input-to-state stability (ISS) for analyzing systems' stability.

[1]  Emanuele Garone,et al.  Explicit Reference Governor for Constrained Nonlinear Systems , 2016, IEEE Transactions on Automatic Control.

[2]  Zhong-Ping Jiang,et al.  Small-gain theorem for ISS systems and applications , 1994, Math. Control. Signals Syst..

[3]  Paulo Tabuada,et al.  Robustness of Control Barrier Functions for Safety Critical Control , 2016, ADHS.

[4]  Eduardo Sontag.  Smooth stabilization implies coprime factorization , 1989, IEEE Transactions on Automatic Control.

[5]  J. Doyle,et al.  NONLINEAR OPTIMAL CONTROL: A CONTROL LYAPUNOV FUNCTION AND RECEDING HORIZON PERSPECTIVE , 1999 .

[6]  Bayu Jayawardhana,et al.  Stabilization with guaranteed safety using Control Lyapunov-Barrier Function , 2016, Autom..

[7]  Andrew R. Teel,et al.  Bounded-Energy-Input Convergent-State Property of Dissipative Nonlinear Systems: An iISS Approach , 2010, IEEE Transactions on Automatic Control.

[8]  Bayu Jayawardhana,et al.  On the new notion of input-to-state safety , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[9]  David Angeli,et al.  Characterizations of Input-to-State Stability for Systems With Multiple Invariant Sets , 2015, IEEE Transactions on Automatic Control.

[10]  Diana Bohm,et al.  L2 Gain And Passivity Techniques In Nonlinear Control , 2016 .

[11]  Bayu Jayawardhana,et al.  State Convergence of Passive Nonlinear Systems With an $L^{2}$ Input , 2009, IEEE Transactions on Automatic Control.

[12]  Paulo Tabuada,et al.  Control barrier function based quadratic programs with application to adaptive cruise control , 2014, 53rd IEEE Conference on Decision and Control.

[13]  Paulo Tabuada,et al.  Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars , 2015, 2015 American Control Conference (ACC).

[14]  H. Logemann,et al.  The Circle Criterion and Input-to-State Stability , 2011, IEEE Control Systems.

[15]  Ali Jadbabaie,et al.  Safety Verification of Hybrid Systems Using Barrier Certificates , 2004, HSCC.

[16]  Ayan Banerjee,et al.  Ensuring Safety, Security, and Sustainability of Mission-Critical Cyber–Physical Systems , 2012, Proceedings of the IEEE.

[17]  Frank Allgöwer,et al.  CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS , 2007 .

[18]  Bayu Jayawardhana,et al.  Uniting Control Lyapunov and Control Barrier Functions , 2014, 53rd IEEE Conference on Decision and Control.

[19]  Eduardo Sontag,et al.  New characterizations of input-to-state stability , 1996, IEEE Trans. Autom. Control..

[20]  Bayu Jayawardhana,et al.  Passivity-Based Control with Guaranteed Safety via Interconnection and Damping Assignment , 2015, ADHS.