Assessing Safety for Control Systems Using Sum-of-Squares Programming
Han Wang,
Kostas Margellos,
Antonis Papachristodoulou
Abstract:In this chapter we introduce the concept of safety for control systems in both continuous and discrete time form. Given a system and a safe set, we say the system is safe if the system state remains inside the safe set for all initial conditions starting from the initial set. Control invariance can be employed to verify safety and design safe controllers. To this end, for general polynomial systems with semi-algebraic safe/initial sets, we show how Sum-of-Squares (SOS) programming can be used to construct inva… Show more
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