论文标题
控制障碍功能：时间延迟系统的安全关键控制
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
论文作者
论文摘要
这项工作为时间延迟系统的安全关键控制提供了一个理论框架。控制屏障功能的理论可为无延迟系统提供正式安全保证，扩展到具有状态延迟的系统。引入了控制屏障功能的概念，以实现正式的安全保证，该概念通过在无限维度空间中定义的安全集的向前不变性。所提出的框架能够在动态和安全条件下处理多个延迟和分布式延迟，并对可以证明安全性的控制输入提供了仿射约束。该约束可以纳入优化问题，以合成最佳且可证明的安全控制器。该方法的适用性通过数值模拟示例证明。
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced to attain formal safety guarantees, by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.
