论文标题
随机系统和安全关键控制设计的控制屏障功能
Control Barrier Functions for Stochastic Systems and Safety-critical Control Designs
论文作者
论文摘要
近年来，对控制屏障功能的分析受到了很大的关注，因为它对许多控制应用问题所需的安全至关重要控制有帮助。尽管将分析扩展到许多研究人员研究的随机系统，但它仍然是一个具有挑战性的问题。在本文中，我们考虑了足够的条件，用于相互控制和零控制屏障功能，以确保具有概率的安全性并使用功能设计控制定律。然后，我们提出了另一个版本的随机零控制屏障函数，以评估样本路径留在安全集中的可能性，并确认与安全集合相关的特定期望的收敛性。我们还展示了一种基于我们随机零控制屏障功能的安全关键控制定律的方式。最后，我们通过简单的示例及其数值模拟确认了提出的控制设计设计和分析的有效性。
In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a stochastic system studied by many researchers, it remains a challenging issue. In this paper, we consider sufficient conditions for reciprocal and zeroing control barrier functions ensuring safety with probability one and design a control law using the functions. Then, we propose another version of a stochastic zeroing control barrier function to evaluate a probability of a sample path staying in a safe set and confirm the convergence of a specific expectation related to the attractiveness of a safe set. We also show a way of deisgning a safety-critical control law based on our stochastic zeroing control barrier function. Finally, we confirm the validity of the proposed control design and the analysis using the control barrier functions via simple examples with their numerical simulation.
