Sufficient Conditions for Robust Safety in Differential Inclusions Using Barrier Functions
Optimization and Control
2023-05-08 v2
Abstract
In this brief paper we introduce a robust-safety notion for differential inclusions, and we propose a general framework to certify such a notion in terms of barrier functions. While existing literature studied only what we designate by uniform robust safety, in this paper, we make a clear distinction between the uniform and the non-uniform robust-safety notions. For both cases, we establish sufficient (infinitesimal) conditions on the nominal (unperturbed) system. That is, our conditions involve only the barrier function and the system's right-hand side. Our results allow for unbounded safety regions as well as nonsmooth barrier functions. Throughout the paper, simple examples are provided to illustrate our results.
Keywords
Cite
@article{arxiv.2208.10829,
title = {Sufficient Conditions for Robust Safety in Differential Inclusions Using Barrier Functions},
author = {Mohamed Maghenem and Masoumeh Ghanbarpour and Adnane Saoud},
journal= {arXiv preprint arXiv:2208.10829},
year = {2023}
}