论文标题
在运行时对有干扰的系统执行安全
Enforcing Safety at Runtime for Systems with Disturbances
论文作者
论文摘要
控制系统的安全通常被视为不变性约束;据说,如果国家轨迹一直避免了状态空间的某些不安全区域,则该系统是安全的。保证的控制器是通过在运行时过滤所需的控制输入来在线执行安全的控制器,并且控制屏障功能(CBF)提供了一个可放置的控制器,该控制器可提供状态空间向前不变的安全子集。最近的扩展建议提出了基于CBF的保证控制器,该控制器允许系统留出已知的安全集,只要给定的备份控制策略最终返回到安全集,但是,这些方法尚未扩展以考虑受到未知干扰输入的系统。 在这项工作中,我们为基于CBF的运行时保证提供了一个问题表达,该系统对具有干扰的系统,而解决此问题的控制器必须以某种方式结合可触及集合的在线计算。通常,在干扰存在的情况下,计算可达集的计算成本是昂贵的,不能直接纳入CBF框架中。为此,我们为问题提供了一个特殊的解决方案,在该解决方案中,可以通过混合单调性属性近似可达集合。存在有效的算法,可用于与超矩形混合 - 孔酮系统过度应用可及的集合,并且我们表明这种近似值适合将其纳入基于CBF的运行时保证框架中。
Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time. An assured controller is one that enforces safety online by filtering a desired control input at runtime, and control barrier functions (CBFs) provide an assured controller that renders a safe subset of the state-space forward invariant. Recent extensions propose CBF-based assured controllers that allow the system to leave a known safe set so long as a given backup control strategy eventually returns to the safe set, however, these methods have yet to be extended to consider systems subjected to unknown disturbance inputs. In this work, we present a problem formulation for CBF-based runtime assurance for systems with disturbances, and controllers which solve this problem must, in some way, incorporate the online computation of reachable sets. In general, computing reachable sets in the presence of disturbances is computationally costly and cannot be directly incorporated in a CBF framework. To that end, we present a particular solution to the problem, whereby reachable sets are approximated via the mixed-monotonicity property. Efficient algorithms exist for overapproximating reachable sets for mixed-monotone systems with hyperrectangles, and we show that such approximations are suitable for incorporating into a CBF-based runtime assurance framework.