制御バリア汎関数：時間遅れ系の安全臨界制御
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
状態遅れを含むシステムに対して、安全集合の前方不変性を保証する制御バリア汎関数を導入し、複数の遅れや分布遅れを扱える安全制御の理論枠組みを提案した。
著者: Adam K. Kiss, Tamas G. Molnar, Aaron D. Ames, Gabor Orosz
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
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.
