451 research outputs found
Safety Barrier Certificates for Stochastic Control Systems with Wireless Communication Networks
This work is concerned with a formal approach for safety controller synthesis
of stochastic control systems with both process and measurement noises while
considering wireless communication networks between sensors, controllers, and
actuators. The proposed scheme is based on control barrier certificates (CBC),
which allows us to provide safety certifications for wirelessly-connected
stochastic control systems. Despite the available literature on designing
control barrier certificates, there has been unfortunately no consideration of
wireless communication networks to capture potential packet losses and
end-to-end delays, which is absolutely crucial in safety-critical real-world
applications. In our proposed setting, the key objective is to construct a
control barrier certificate together with a safety controller while providing a
lower bound on the satisfaction probability of the safety property over a
finite time horizon. We propose a systematic approach in the form of
sum-of-squares optimization and matrix inequalities for the synthesis of CBC
and its associated controller. We demonstrate the efficacy of our approach on a
permanent magnet synchronous motor. For the application of automotive electric
steering under a wireless communication network, we design a CBC together with
a safety controller to maintain the electrical current of the motor in a safe
set within a finite time horizon while providing a formal probabilistic
guarantee
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