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The safety control problem for hybrid automata with imperfect mode information and continuous control is addressed. When the controller does not have access to the mode of the system, available static feedback techniques cannot be applied. We propose a dynamic feedback strategy in which a mode estimator constructs the set of possible current system modes. A control map is designed that on the basis of the current mode estimates returns the set of all possible safe control inputs. This dynamic feedback map implicitly assumes separation between state estimation and control. Termination conditions are provided. The proposed control technique is applied to a semi-autonomous cooperative active safety system.