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Multiple Control Functionals for Interconnected Time-Delay Systems

Authors :
Pan, Zhuo-Rui
Ren, Wei
Sun, Xi-Ming
Publication Year :
2023

Abstract

Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we address the safe stabilization problem of interconnected systems with time delays. We propose multiple control Lyapunov and barrier functionals for the stabilization and safety control problems, respectively. In order to investigate the safe stabilization control problem, the proposed multiple control functionals are combined together via two methods: the optimization-based method and the sliding mode based method. The resulting controllers can be of either explicit or implicit forms, both of which ensure the safe stabilization objective of the whole system. The derived results are illustrated via a reach-avoid problem of multi-robot systems.<br />Comment: 6 pages, 2 figures

Details

Database :
arXiv
Publication Type :
Report
Accession number :
edsarx.2312.00315
Document Type :
Working Paper