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arXiv · 2301.04603

Feasibility and Regularity Analysis of Safe Stabilizing Controllers under Uncertainty

Pol Mestres·Jorge Cortés
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Abstract

This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function (CBF). These descriptions give rise to second-order cone constraints (SOCCs) whose simultaneous satisfaction guarantees safe stabilization. We study the feasibility of such SOCCs and the regularity properties of various controllers satisfying them.

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Pol Mestres, Jorge Cortés. 2023-01-11. Feasibility and Regularity Analysis of Safe Stabilizing Controllers under Uncertainty. https://arxiv.org/abs/2301.04603

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