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IEICE English Webinar Distinguished Lecturer Program Series January 2025
>> YOUR LINK HERE: ___ http://youtube.com/watch?v=AmXoDM3h_8c
Design of Stable and Safe Nonlinear Control Systems Using Lyapunov and • Barrier functions • Lecturer: Prof. Toshimitsu Ushio • Nanzan University • Summary: • Stability and safety are essential requirements in control of highly • automated systems such as self-driving vehicles and mobile robots. First, • we introduce the definition of stability of nonlinear dynamical systems • and present a sufficient condition for the stability called Lyapunov • theorem which provides a method for checking the stability of the • systems without computing the trajectories of the systems explicitly. • This method is practically useful because the closed forms of the • trajectories of nonlinear systems do not exist in general. Then, we • define a control Lyapunov function and present a design method of stable • control systems using the control Lyapunov function. Next, we define • safety of dynamical systems as set invariance and present Nagumo theorem • which provides a necessary and sufficient condition for the safety. We • introduce a barrier function which is a practically useful tool for • checking the safety of the systems. Then, we define a control barrier • function and present a design method of safe systems using the control • barrier function. Finally, we present a design method of stable and • safe control systems. Especially, we focus on a safety filter for a • controller that is designed beforehand to satisfy a given control • specification such as stability requirements. The safety filter • modifies a control input computed by the controller when the input • violates the safety requirements. The safety filter is useful for • safety requirements such as collision avoidance with obstacles. • Send Feedback: • https://forms.office.com/r/btpxYYM28n • Follow us on Twitter: @Ieice_trans
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