The paper presents a novel robust predictive safety filter that extends existing work on control barrier functions to address bounded perturbations and time-varying systems and constraints. The key contributions are:
Robust predictive safety filter for time-varying nonlinear systems and time-varying constraints: The proposed approach uses robust, discrete-time barrier functions to ensure safety in the presence of bounded disturbances. This extends previous work that was limited to time-invariant systems.
1-step robust safety filter: The authors also develop a simplified 1-step robust safety filter that can be more efficiently implemented by only checking the safety condition around the boundary of the safe set.
Event-triggered implementation: An event-triggered control policy is proposed that only solves the safety filter optimization problem when necessary, reducing online computational requirements.
The safety filter is demonstrated on a two-tank system, a building system, and a single integrator example, showing its effectiveness in ensuring constraint satisfaction under bounded disturbances.
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by Wenceslao Sh... um arxiv.org 04-29-2024
https://arxiv.org/pdf/2311.08496.pdfTiefere Fragen