تقرير
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
| العنوان: | Control Barrier Functionals: Safety-critical Control for Time Delay Systems |
|---|---|
| المؤلفون: | Kiss, Adam K., Molnar, Tamas G., Ames, Aaron D., Orosz, Gabor |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | Electrical Engineering and Systems Science - Systems and Control, Computer Science - Robotics, Mathematics - Dynamical Systems |
| الوصف: | 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. Comment: Submitted to the International Journal of Robust and Nonlinear Control (JRNC). 25 pages, 3 figures |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2206.08409 |
| رقم الأكسشن: | edsarx.2206.08409 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |