Discretization-Robust Safety Barrier of Partial Differential Equation

Younghwa Park; Christoffer Sloth

doi:10.1109/ICCMA59762.2023.10374980

Discretization-Robust Safety Barrier of Partial Differential Equation

Younghwa Park^*, Christoffer Sloth

^*Kontaktforfatter

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

Abstract

This paper presents a method for ensuring the safety of a system governed by partial differential equation (PDE). Our approach is to spatially discretize the PDE to obtain an ordinary differential equation (ODE) that approximates the system behavior with a known maximal approximation error. A safe controller is subsequently designed for the ODE using control barrier function while taking the approximation error into account. The framework is verified on the control of a flexible beam modeled as an Euler-Bernoulli beam. The designed controller is verified in a simulation of a simple motion that exemplifies a scenario of remote maintenance of the DEMO fusion power plant.

Originalsprog	Engelsk
Titel	2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)
Forlag	IEEE
Publikationsdato	2023
Sider	49-54
ISBN (Elektronisk)	9798350315684
DOI	https://doi.org/10.1109/ICCMA59762.2023.10374980
Status	Udgivet - 2023
Begivenhed	2023 11th International Conference on Control, Mechatronics and Automation (ICCMA) - Grimstad, Norge Varighed: 1. nov. 2023 → 3. nov. 2023

Konference

Konference	2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)
Land/Område	Norge
By	Grimstad
Periode	01/11/2023 → 03/11/2023

Navn	International Conference on Control, Mechatronics and Automation (ICCMA)
ISSN	2837-5114

Dokumenter og links

10.1109/ICCMA59762.2023.10374980

SDU link

Tjek adgangen til materialet i Syddansk Universitetsbiblioteks søgemaskine

1 Igangværende

EUROfusion BB RH DEMO (Control)
Sloth, C. (Projektdeltager), Diget, E. L. (Projektdeltager), Santos, B. M. (Projektdeltager), Lindvig, A. P. (Projektdeltager), Nowak, C. (Projektdeltager), de Nóbrega, R. (Projektdeltager), Singh, R. (Projektdeltager), Shen, Z. (Projektdeltager), Petersen, H. G. (Projektdeltager), Park, Y. (Projektdeltager) & Larsen, M. E. (Projektdeltager)
01/05/2024 → 31/12/2026
Projekter: Projekt › EU

Citationsformater

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title = "Discretization-Robust Safety Barrier of Partial Differential Equation",

abstract = "This paper presents a method for ensuring the safety of a system governed by partial differential equation (PDE). Our approach is to spatially discretize the PDE to obtain an ordinary differential equation (ODE) that approximates the system behavior with a known maximal approximation error. A safe controller is subsequently designed for the ODE using control barrier function while taking the approximation error into account. The framework is verified on the control of a flexible beam modeled as an Euler-Bernoulli beam. The designed controller is verified in a simulation of a simple motion that exemplifies a scenario of remote maintenance of the DEMO fusion power plant.",

keywords = "control barrier function (CBF), over approximation, partial differential equation (PDE), robust safety barrier",

author = "Younghwa Park and Christoffer Sloth",

year = "2023",

doi = "10.1109/ICCMA59762.2023.10374980",

language = "English",

series = "International Conference on Control, Mechatronics and Automation (ICCMA)",

publisher = "IEEE",

pages = "49--54",

booktitle = "2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)",

address = "United States",

note = "2023 11th International Conference on Control, Mechatronics and Automation (ICCMA) ; Conference date: 01-11-2023 Through 03-11-2023",

}

Park, Y & Sloth, C 2023, Discretization-Robust Safety Barrier of Partial Differential Equation. i 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE, International Conference on Control, Mechatronics and Automation (ICCMA), s. 49-54, 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA), Grimstad, Norge, 01/11/2023. https://doi.org/10.1109/ICCMA59762.2023.10374980

Discretization-Robust Safety Barrier of Partial Differential Equation. / Park, Younghwa ; Sloth, Christoffer.
2023 11th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE, 2023. s. 49-54 (International Conference on Control, Mechatronics and Automation (ICCMA)).

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

TY - GEN

T1 - Discretization-Robust Safety Barrier of Partial Differential Equation

AU - Park, Younghwa

AU - Sloth, Christoffer

PY - 2023

Y1 - 2023

N2 - This paper presents a method for ensuring the safety of a system governed by partial differential equation (PDE). Our approach is to spatially discretize the PDE to obtain an ordinary differential equation (ODE) that approximates the system behavior with a known maximal approximation error. A safe controller is subsequently designed for the ODE using control barrier function while taking the approximation error into account. The framework is verified on the control of a flexible beam modeled as an Euler-Bernoulli beam. The designed controller is verified in a simulation of a simple motion that exemplifies a scenario of remote maintenance of the DEMO fusion power plant.

AB - This paper presents a method for ensuring the safety of a system governed by partial differential equation (PDE). Our approach is to spatially discretize the PDE to obtain an ordinary differential equation (ODE) that approximates the system behavior with a known maximal approximation error. A safe controller is subsequently designed for the ODE using control barrier function while taking the approximation error into account. The framework is verified on the control of a flexible beam modeled as an Euler-Bernoulli beam. The designed controller is verified in a simulation of a simple motion that exemplifies a scenario of remote maintenance of the DEMO fusion power plant.

KW - control barrier function (CBF)

KW - over approximation

KW - partial differential equation (PDE)

KW - robust safety barrier

U2 - 10.1109/ICCMA59762.2023.10374980

DO - 10.1109/ICCMA59762.2023.10374980

M3 - Article in proceedings

T3 - International Conference on Control, Mechatronics and Automation (ICCMA)

SP - 49

EP - 54

BT - 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)

PB - IEEE

T2 - 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA)

Y2 - 1 November 2023 through 3 November 2023

ER -

Discretization-Robust Safety Barrier of Partial Differential Equation

Abstract

Konference

Dokumenter og links

SDU link

Fingeraftryk

Relaterede projekter

EUROfusion BB RH DEMO (Control)

Citationsformater