Sökning: "control barrier functions"

Visar resultat 1 - 5 av 35 avhandlingar innehållade orden control barrier functions.

  1. 1. Distributed Control for Spatio-Temporally Constrained Systems

    Författare :Adrian Wiltz; Dimos V. Dimarogonas; Jonas Mårtensson; Matthias Müller; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; distributed model predictive control; control barrier functions; spatio-temporal constraints; constrained control; multiagent systems; distribuerad modell prediktiv styrning; kontrollbarriärfunktion; tillstånds-temporala begränsningar; begränsade system; multiagentsystem;

    Sammanfattning : In this thesis, we develop methods leading towards the distributed control of spatio-temporally constrained systems. Overall, we focus on two different approaches: a model predictive control approach and an approach based on ensuring set-invariance via control barrier functions. LÄS MER

  3. 2. Partitioning and Control for Dynamical Systems Evolving on Manifolds

    Författare :Xiao Tan; Dimos V. Dimarogonas; James D. Biggs; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Partitioning and control; Transition system; Geometric control; Barrier functions; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : With the development and integration of cyber-physical and safety-critical systems, control systems are expected to achieve tasks that include logic rules, receptive decision-making, safety constraints, and so forth. For example, in a persistent surveillance application, an unmanned aerial vehicle might be required to "take photos of areas A and B infinitely often, always avoid unsafe region C, and return to the charging point when the battery level goes low. LÄS MER

  4. 3. Correctness and Safety in Planning and Control via State-Space Partitions and Barrier Functions

    Författare :Xiao Tan; Dimos V. Dimarogonas; Samuel Coogan; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Dynamical systems; Control barrier functions; Optimeringslära och systemteori; Optimization and Systems Theory;

    Sammanfattning : Autonomous systems have become increasingly prevalent in various industries, ranging from household cleaning robots to line inspection drones and copilot vehicles. Ensuring real-time safety is becoming a critical issue when the environment is rapidly changing. LÄS MER

  5. 4. Control of Dynamical Systems subject to Spatio-Temporal Constraints

    Författare :Maria Charitidou; Dimos V. Dimarogonas; Christian Ebenbauer; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Signal Temporal Logic; formal methods; control barrier functions; autonomous systems; model predictive control; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Over the last decades, autonomous robots have been considered in a variety of applications such  as persistent monitoring, package delivery and cooperative transportation. These applications often require the satisfaction of a set of complex tasks that need to be possibly performed in a timely manner. LÄS MER

  7. 5. Robust and Abstraction-free Control of Dynamical Systems under Signal Temporal Logic Tasks

    Författare :Lars Lindemann; Dimos V. Dimarogonas; Ozay Necmiye; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Signal Temporal Logic; Multi-agent systems; Motion planning; Automatic Control; Hybrid Systems; Electrical Engineering; Elektro- och systemteknik;

    Sammanfattning : Dynamical systems that provably satisfy given specifications have become increasingly important in many engineering areas. For instance, safety-critical systems such as human-robot networks or autonomous driving systems are required to be safe and to also satisfy some complex specifications that may include timing constraints, i.e. LÄS MER