文章基本信息

标题：Synthesis of Stochastic Systems with Partial Information via Control Barrier Functions ⁎
本地全文：下载
作者：Niloofar Jahanshahi ; Pushpak Jagtap ; Majid Zamani 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：2441-2446
DOI：10.1016/j.ifacol.2020.12.187
语种：English
出版社：Elsevier
摘要：AbstractSynthesis of controllers for stochastic control systems ensuring safety constraints has gained considerable attention in the last few years. In this paper, we consider the problem of synthesizing controllers for partially observed stochastic control systems to ensure finite-time safety. Given an estimator with a probabilistic guarantee on the accuracy of the estimations, we provide an approach to compute a controller providing a lower bound on the probability that the trajectories of the stochastic control system remain safe over a finite time-horizon. To obtain such controllers, we utilize a notion of control barrier functions. We also provide an approach to compute a probability bound on estimator accuracy by using a notion of so-called stochastic simulation function. The proposed result is illustrated on a case study.
关键词：KeywordsControl Barrier FunctionsSafety SynthesisStochastic Control SystemsPartial InformationOutput Feedback Control