Secondary Safety Control for Systems with Sector Bounded Nonlinearities [Extended Version]
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866912326596165632 |
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| author | Lin, Yankai Chong, Michelle S. Murguia, Carlos |
| author_facet | Lin, Yankai Chong, Michelle S. Murguia, Carlos |
| contents | We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor attacks. Specifically, we adopt the setup that a controller has already been designed to stabilize the plant. Using invariant sets and barrier certificate theory, we first give sufficient conditions to verify the safety of the closed-loop system under attacks. Furthermore, by using a subset of sensors that are assumed to be free of attacks, we provide a synthesis method for a secondary controller that enhances the safety of the system. The sufficient conditions to verify safety are derived using Lyapunov-based tools and the S-procedure. Using the projection lemma, the conditions are then formulated as linear matrix inequality (LMI) problems which can be solved efficiently. Lastly, our theoretical results are illustrated through numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_08535 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Secondary Safety Control for Systems with Sector Bounded Nonlinearities [Extended Version] Lin, Yankai Chong, Michelle S. Murguia, Carlos Systems and Control We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor attacks. Specifically, we adopt the setup that a controller has already been designed to stabilize the plant. Using invariant sets and barrier certificate theory, we first give sufficient conditions to verify the safety of the closed-loop system under attacks. Furthermore, by using a subset of sensors that are assumed to be free of attacks, we provide a synthesis method for a secondary controller that enhances the safety of the system. The sufficient conditions to verify safety are derived using Lyapunov-based tools and the S-procedure. Using the projection lemma, the conditions are then formulated as linear matrix inequality (LMI) problems which can be solved efficiently. Lastly, our theoretical results are illustrated through numerical simulations. |
| title | Secondary Safety Control for Systems with Sector Bounded Nonlinearities [Extended Version] |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2504.08535 |