论文标题
安全 - 关键事件通过输入到国家安全屏障功能触发控制
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions
论文作者
论文摘要
同时实现控制目标的同时，有效利用可用资源是事件触发的控制范式的主要动机。在许多现代控制应用中，这样的目标是实施系统的安全性。本文的目的是通过结合事件触发和关键安全控制设计来实现这一愿景。我们讨论在安全性的情况下，直接转录的稳定方法可能导致设计在实际硬件上无法在实际硬件上实现的设计，这是如何由于缺乏最小的间隔时间而实现的。我们提供了一个反例，显示了这种现象，并基于获得的洞察力，通过输入提出了一种事件触发的控制方法，以实现安全性屏障功能，同时确保事件间时期均匀下降。我们在模拟中说明了我们的结果。
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide a counterexample showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input to State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded. We illustrate our results in simulation.
