2019
DOI: 10.48550/arxiv.1910.02317
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Robust Estimator-Based Safety Verification: A Vector Norm Approach

Binghan He,
Gray C. Thomas,
Luis Sentis

Abstract: In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This type of barrier function has a measurable upper bound without full state availability. An identifier-based estimator allows an exact bound for the uncertainty-based component of the barrier function estimate. Assuming that the system is safe initially allows an exponentially… Show more

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