複雑な安全仕様のための制御バリア関数の合成
Composing Control Barrier Functions for Complex Safety Specifications
状態制約のブール合成として記述された複雑な安全仕様を、単一の連続微分可能な制御バリア関数に変換するアルゴリズムを提案し、数値シミュレーションで有効性を示した。
著者: Tamas G. Molnar, Aaron D. Ames
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier functions (CBFs). The specifications are formulated as Boolean compositions of state constraints, and we propose an algorithmic way to create a single continuously differentiable CBF that captures these constraints and enables safety-critical control. We describe the properties of the proposed CBF, and we demonstrate its efficacy by numerical simulations.
