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- W4386869626 abstract "This paper develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints. To this end, a high-relative-degree input-to-state safety (ISSf) approach is proposed to quantify the influence of external inputs on the subsystem safety. With a coordination transformation, the relationship between ISSf barrier functions (ISSf-BFs) and the existing high-relative-degree (or high-order) barrier functions is established to simplify the safety analysis under external inputs. With high-relative-degree ISSf-BFs, a small-gain theorem is proposed for safety verification. It is shown that, under the small-gain condition, the compositional safe set is forward invariant and asymptotically stable. The effectiveness of the proposed small-gain theorem is illustrated on the output-constrained decentralized control of two inverted pendulums connected by a spring mounted on two carts." @default.
- W4386869626 created "2023-09-20" @default.
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- W4386869626 date "2023-01-01" @default.
- W4386869626 modified "2023-09-27" @default.
- W4386869626 title "Small-Gain Theorem for Safety Verification Under High-Relative-Degree Constraints" @default.
- W4386869626 doi "https://doi.org/10.1109/tac.2023.3317315" @default.
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