On a Strong Robust-Safety Notion for Differential Inclusions

• 成果类型: Article
• 署名作者: Maghenem, Mohamed; Karaki, Diana
• 署名单位: Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3332552
• 发表日期: 2024
• 页码: 2237-2248
• 关键词: Constrained control; robust safety; Robust control; stability of nonlinear systems

摘要

A dynamical system is strongly robustly safe provided that it remains safe in the presence of a continuous and positive perturbation, named robustness margin, added to both the argument and the image of the right-hand side (the dynamics). Therefore, in comparison with existing robust-safety notions, where the continuous and positive perturbation is added only to the image of the right-hand side, the proposed notion is shown to be relatively stronger in the context of set-valued right-hand sides. Furthermore, we distinguish between strong robust safety and uniform strong robust safety, which requires the existence of a constant robustness margin. The first part of the article proposes sufficient conditions for strong robust safety in terms of barrier functions. The proposed conditions involve only the barrier function and the system's right-hand side. Furthermore, we establish the equivalence between strong robust safety and the existence of a smooth barrier certificate. The second part of the article proposes scenarios, under which, strong robust safety implies uniform strong robust safety. Finally, we propose sufficient conditions for the latter notion in terms of barrier functions.