Tua A. Tamba, Bin Hu, Yul Y. Nazaruddin
This note examines the safety verification of the solution of Ito stochastic differential equations using the notion of stochastic zeroing barrier function. The main tools in the proposed method include Ito calculus and the concept of stochastic invariant set.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
继续探索
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
本文提出基于李群的能耗增强零控制障碍函数，用于全驱动机械系统的安全关键控制，通过运动学约束和动能限制确保安全交互。
Control Barrier Functions for Stochastic Systems and Safety-critical Control Designs
针对随机系统安全关键控制难题，提出两类确保概率1安全的随机控制屏障函数充分条件，设计对应控制律，验证了安全集吸引性相关期望收敛性，经仿真验证方法有效。
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed formulation guarantees asymptotic stability of the forward invariant set, which is highly favorable for robustness with respect to model perturbations. No forward completeness assumption is needed in our setting in contrast to existing high order barrier function methods. For the case of controlled dynamical systems, we relax the requirement of uniform relative degree…
Barrier function-based inequality constraints are a means to enforce safety specifications for control systems. When used in conjunction with a convex optimization program, they provide a computationally efficient method to enforce safety for the general class of control-affine systems. One of the main assumptions when taking this approach is the a priori knowledge of the barrier function itself, i.e., knowledge of the safe set. In the context of navigation through unknown environments where the locally safe set evolves with time, such knowledge does not exist. This manuscript focuses on the s…
We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g. passivity-based) while still ensuring robustness, for which the construction of conventional ZCBFs is difficult. We also propose a locally Lipschitz continuous control law that handles multiple ZCBFs, while respecting input constraints, which is not currently possible with existing ZCBF methods. We apply the proposed concept for unicycle navigation in an obstacle-rich environment.
This paper presents methodologies for ensuring forward invariance of sublevel sets of constraint functions with high-relative-degree with respect to the system dynamics and in the presence of input constraints. We show that such constraint functions can be converted into special Zeroing Control Barrier Functions (ZCBFs), which, by construction, generate sufficient conditions for rendering the state always inside a sublevel set of the constraint function in the presence of input constraints. We present a general form for one such ZCBF, as well as a special case applicable to a specific class of…
Constrained attitude maneuvers have numerous applications in robotics and aerospace. In our previous work, a general framework to this problem was proposed with resolution completeness guarantee. However, a smooth reference trajectory and a low-level safety-critical controller were lacking. In this work, we propose a novel construction of a $C^2$ continuous reference trajectory based on Bézier curves on $ SO(3) $ that evolves within predetermined cells and eliminates previous stop-and-go behavior. Moreover, we propose a novel zeroing control barrier function on $ SO(3) $ that provides a safety…
Control barrier functions have been widely used for synthesizing safety-critical controls, often via solving quadratic programs. However, the existence of Gaussian-type noise may lead to unsafe actions and result in severe consequences. In this paper, we study systems modeled by stochastic differential equations (SDEs) driven by Brownian motions. We propose a notion of stochastic control barrier functions (SCBFs)and show that SCBFs can significantly reduce the control efforts, especially in the presence of noise, compared to stochastic reciprocal control barrier functions (SRCBFs), and offer a…
Optimal Safety Control using High-Order Control Barrier Functions
研究非线性控制系统最优安全控制问题，提出新型高阶控制障碍函数及控制Lyapunov函数，讨论二者关系与兼容性以建立最优控制器，通过四旋翼导航问题数值示例验证了结果的有效性。
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work presents a novel approach to learn workspace constraints from human demonstrations and to generate motion trajectories for the robot that lie in the constrained workspace. Training data are incrementally clustered into different linear subspaces and used to fit a low dimensional representation of each subspace. By considering the learned constraint subspaces as ze…
Enhancing Robustness of Control Barrier Function: A Reciprocal Resistance-based Approach
针对受扰仿射非线性系统，提出RRCBF及DO-RRCBF框架，在无需扰动界的情况下保证安全集前向不变性并降低保守性。
Designing Barrier Functions for Graceful Safety Control
本文提出了一种结合零点和互惠控制屏障函数的设计方法，用于实现动态系统中优雅的安全控制，通过能量分析证明了其有效性。
Stochastic Safety-critical Control Compensating Safety Probability for Marine Vessel Tracking
本文提出非线性船舶运动模型并采用线性化方法控制，利用随机零化控制屏障函数确保概率安全，通过仿真验证有效性。
Control Barrier Function based Attack-Recovery with Provable Guarantees
针对执行器攻击下的CPS安全问题，提出基于ZCBF的攻击检测、自适应恢复与混合控制方法，并通过采样验证和QP控制给出可证明保证。
Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of a single constraint function. Euler-Lagrange systems represent many real-world systems including robots and vehicles, which must abide by safety-regulations, especially for use in human-occupied environments. These safety regulations include state constraints (position and velocity) and input constraints that must be respected at all times. ZCBFs are valuab…
Neural Control Barrier Functions from Physics Informed Neural Networks
针对自主系统安全保障中手动设计控制障碍函数（CBFs）的挑战，本文提出一种基于物理启发神经网络框架的新型神经CBFs，通过纳入祖博夫偏微分方程实现安全合成，并在三个系统验证了有效性。
Composite Adaptive Higher-Order Control Barrier Functions for Joint Frequency-RoCoF Safety in Low-Inertia SIDS Microgrids
针对低惯量SIDS微电网，提出CA-HOCBF方法，联合强制频率与RoCoF硬约束，在参数不确定下保证安全，仿真验证消除违规并提升性能。
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner generates a reference trajectory that is tracked by a low-level controller under input constraints. We introduce the notion of fixed-time barrier functions which is leveraged by the proposed low-level controller in a quadratic programming framework. Then, we design a model predictive control policy for high-level planning with a bound on the rate of change for the r…
This paper deals with an application of the notion of barrier in mixed constrained nonlinear systems to an example of a pendulum mounted on a cart with non-rigid cable, whose dynamics may switch to free-fall when the tension of the cable vanishes. We present a direct construction of the boundary of the potentially safe set in which there always exists a control such that the cable never goes slack. A discussion on the dependence of this set with respect to the pendulum and cart masses is then sketched.
Converse Theorems for Safety and Barrier Certificates
本文证明了所有鲁棒安全的微分方程均具有屏障证书，并基于可在有限时间内达到的状态集构造此类证书。
This paper is motivated by the increasing security concerns of cyber-physical systems. Here, we develop a discretization-free verification scheme targeting an information-flow security property, called approximate initial-state opacity, for the class of discrete-time control systems. We propose notions of so-called augmented control barrier certificates in conjunction with specified regions of interest capturing the initial and secret sets of the system. Sufficient conditions for (the lack of) approximate initial-state opacity of discrete-time control systems are proposed based on the existenc…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of the safe set of states, and constructs a controller to render the subset forward invariant. The feedback controller is represented as the solution to a quadratic program, which can be solved efficiently for real-time implementation. Furthermore, we show that ICCBFs are a generalization of Higher Order Control Barrier Functions, and thus are applicable to sy…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive Control Barrier Function (HO-RaCBF) as a means to compute control policies guaranteeing satisfaction of high relative degree safety constraints in the face of parametric model uncertainty. The developed approach guarantees safety by initially accounting for all possible parameter realizations but adaptively reduces uncertainty in the parameter estimates levera…
Stabilization of Nonlinear Systems through Control Barrier Functions
本文针对非线性控制系统镇定问题，利用非光滑控制障碍函数与弱CLF概念设计控制器，使系统收敛并保持在CLF下降可行域，实现原点或其邻域的渐近镇定，并用多例验证。
Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging
本文提出DTCBF和qDTCBF证书作为非线性MPC终端要素以保证递归可行性，其中qDTCBF可在更紧输入约束下满足条件，并在自动驾驶车道合并场景中通过仿真验证了方法的有效性。
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate an optimization problem for learning robust hybrid control barrier functions from data. We identify sufficient conditions on the data such that feasibility of the optimization problem ensures correctness of the learned robust hybrid control barrier functions. Our techniques allow us to safely expand the region of attraction of a compass gait walker that is …
Co-Buchi Barrier Certificates for Discrete-time Dynamical Systems
本文提出共Buchi障碍证书方法，用于验证离散时间动力系统在给定谓词上固定次数访问的性质，通过有界综合范式与LTL可实现性相结合，实现安全自动机转换和有效性验证。
Probabilistic Control Barrier Functions: Safety in Probability for Discrete-Time Stochastic Systems
本文提出概率控制屏障函数，用于为离散时间随机系统设计具有概率安全保证的控制器，并通过仿真和硬件验证其有效性。
In this paper, we propose a compositional framework for the synthesis of safety controllers for networks of partially-observed discrete-time stochastic control systems (a.k.a. continuous-space POMDPs). Given an estimator, we utilize a discretization-free approach to synthesize controllers ensuring safety specifications over finite-time horizons. The proposed framework is based on a notion of so-called local control barrier functions computed for subsystems in two different ways. In the first scheme, no prior knowledge of estimation accuracy is needed. The second framework utilizes a probabilit…
Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data. In particular, we assume a setting in which the system dynamics are known and in which data exhibiting safe system behavior is available. We propose hybrid control barrier functions for hybrid systems as a means to synthesize safe control inputs. Based on this notion, we present an optimization-based framework to learn such hybrid control barrier functions from data. Importantly, we identify sufficient conditi…
Performance-Barrier-Based Event-Triggered Control with Applications to Network Systems
针对事件触发控制需兼顾性能保证与通信资源节约的问题，提出基于性能障碍的触发框架，允许 Lyapunov 证书非单调下降，并为网络系统设计本质无 Zeno 的分布式触发器，车辆编队实验显示更新次数显著减少。
$k$-Inductive and Interpolation-Inspired Barrier Certificates for Stochastic Dynamical Systems
本文提出k-归纳与插值启发的障碍证书，用于随机动力系统，通过结合k-归纳与插值方法，放宽超martingale约束，提升安全概率下界计算的灵活性和精度。
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
本文提出将安全约束与性能目标统一在二次规划中的方法，通过控制屏障函数和控制李雅普诺夫函数的结合，实现安全与性能的协调控制。
Robustness of Control Barrier Functions for Safety Critical Control
本文研究了控制屏障函数在安全关键控制中的鲁棒性，提出扩展方法以应对系统扰动，并结合控制Lyapunov函数实现安全控制目标。
Converse Theorems for Certificates of Safety and Stability
本文针对非线性控制系统中控制障碍函数（CBFs）的存在性提出逆定理，给出安全集存在CBF的充分条件及扩展CBF定义，并针对联合安全与稳定性问题给出CLBF和兼容CLF-CBF对存在的条件及构造方法。
This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework, each agent is assigned a local STL task regradless of the tasks of other agents. Each task may be dependent on the behavior of other agents which may cause conflicts on the satisfaction of all tasks. Our approach finds a robust solution to guarantee the fixed-time satisfaction of STL tasks in a least violating way and independent of the agents' initial conditio…
Verification of Quantum Systems using Barrier Certificates
本文将屏障证书从实变量扩展到复变量，并提出基于线性规划自动生成多项式屏障证书的方法，用于量子系统的形式化验证。
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against $ω$-regular properties that can be described by accepting languages of deterministic Streett automata (DSA) along with providing probabilistic guarantees for the satisfaction of such specifications. The proposed framework leverages the interconnection topology and a notion of so-called \emph{control sub-barrier certificates} of subsystems, which are used to composition…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The proposed scheme is based on a notion of so-called pseudo-barrier functions computed for subsystems, by employing which one can synthesize hybrid controllers for interconnected systems enforcing complex specifications over a finite-time horizon. Particularly, we first leverage sufficient small-gain type conditions to compositionally construct control barrier fu…
In this paper, we propose a compositional framework for the construction of control barrier certificates for large-scale stochastic switched systems accepting multiple control barrier certificates with some dwell-time conditions. The proposed scheme is based on a notion of so-called augmented pseudo-barrier certificates computed for each switched subsystem, using which one can compositionally synthesize state-feedback controllers for interconnected systems enforcing safety specifications over a finite-time horizon. In particular, we first leverage sufficient max-type small-gain conditions to c…
On the Construction of Barrier Certificate: A Dynamic Programming Perspective
本文从动态规划视角重新分析随机系统安全性验证中的障碍证书条件，指出其在不安全状态上过于保守，并提出更不保守的新条件及SOS规划求解方法，以得到更紧的安全概率界。
Barrier Certificates Revisited
本文探讨了如何在保持凸性的同时放松屏障证书条件，以高效合成更复杂的证书，并通过SDP结合函数证明安全属性。
This work is concerned with the safety controller synthesis of stochastic hybrid systems, in which continuous evolutions are described by stochastic differential equations with both Brownian motions and Poisson processes, and instantaneous jumps are governed by stochastic difference equations with additive noises. Our proposed framework leverages the notion of control barrier certificates (CBC), as a discretization-free approach, to synthesize safety controllers for stochastic hybrid systems while providing safety guarantees in finite time horizons. In our proposed scheme, we first provide an …
Self-triggered Control for Safety Critical Systems using Control Barrier Functions
本文提出了一种结合自触发控制、控制李雅普诺夫函数（CLF）和控制屏障函数（CBF）的实时控制策略，通过求解二次规划问题实现控制器计算，引入零阶保持器（ZOH）以克服传统周期性控制器的不足，确保安全性和避免Zeno行为。
Safety Under State Uncertainty: Robustifying Control Barrier Functions
针对控制障碍函数依赖精确状态而实际仅得噪声或估计状态的问题，提出鲁棒控制障碍函数（R-CBF），无需不确定性大小即可合成鲁棒安全控制器，仿真验证其额外鲁棒性与收敛性保证。
This paper is concerned with a compositional approach for the construction of control barrier certificates for large-scale interconnected stochastic systems while synthesizing hybrid controllers against high-level logic properties. Our proposed methodology involves decomposition of interconnected systems into smaller subsystems and leverages the notion of control sub-barrier certificates of subsystems, enabling one to construct control barrier certificates of interconnected systems by employing some max-type small-gain conditions. The main goal is to synthesize hybrid controllers enforcing com…
In this paper, we propose a data-driven approach to formally verify the safety of (potentially) unknown discrete-time continuous-space stochastic systems. The proposed framework is based on a notion of barrier certificates together with data collected from trajectories of unknown systems. We first reformulate the barrier-based safety verification as a robust convex problem (RCP). Solving the acquired RCP is hard in general because not only the state of the system lives in a continuous set, but also and more problematic, the unknown model appears in one of the constraints of RCP. Instead, we le…
Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems
本文针对非完整多智能体系统在动态环境中的安全问题，提出基于协同控制屏障函数的混合方法，通过离散切换机制在保持正速度约束下实现避障与安全协调。
Privacy Verification in POMDPs via Barrier Certificates
本文提出基于屏障证书的方法，用于验证由马尔可夫决策过程和部分可观测马尔可夫决策过程建模的网络控制系统隐私，通过信念更新方程转化为离散时间切换系统，并利用半定规划和求和平方规划实现计算验证。
Vector Certificates for $ω$-regular Specifications
本文提出向量证书用于验证ω-正则规范，通过联合上近似诱导不变量的方法，克服单个函数无法找到的局限性。
Robust Adaptive Backup Control Barrier Functions
针对含参数不确定性的非线性控制仿射系统，提出鲁棒自适应备份控制障碍函数。用按元素认证的自适应估计器估计未知参数，计算备份流并收紧安全条件，还用基于对偶性的重新表述处理驱动矩阵不确定性，证明该方法能保证系统在相关情况下的安全性。
Recurrent Control Barrier Functions: A Path Towards Nonparametric Safety Verification
针对传统HJ可达性分析和CBFs安全验证计算负担大的问题，提出循环控制屏障函数RCBF，利用轨迹循环特性验证安全，将函数设计转为集合识别，还提出可并行的数据驱动非参数安全集计算方法，平衡保守性与计算成本。
Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for determining control actions. In practice, measurement model uncertainty can lead to error in state estimates that degrades these guarantees. In this paper, we seek to unify techniques from control theory and machine learning to synthesize controllers that achieve safety in the presence of measurement model uncertainty. We define the notion of a Measurement-Robus…
A Learning-Based Control Barrier Function for Car-Like Robots: Toward Less Conservative Collision Avoidance
本文提出一种基于学习的控制屏障函数，通过神经网络近似考虑机器人朝向和形状的不可微安全裕度，并引入相对动力学概念，在类车机器人碰撞避免中显著降低保守性。
A Review On Safe Reinforcement Learning Using Lyapunov and Barrier Functions
综述探讨了利用李雅普诺夫和屏障函数实现安全强化学习的方法，指出该领域已从模型驱动转向模型无关方法，且高维和部分可观测环境仍是主要挑战。
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous time models) and practice (the discrete time sampled implementation of the resulting controllers); this can lead to poor performance and violations of safety for hardware instantiations. We propose an approach to close this gap by synthesizing sampled-data counterparts to these CBF-based controllers using approximate discrete time models and Sampled-Data Contr…
Verification of Diagnosability for Cyber-Physical Systems: A Hybrid Barrier Certificate Approach
本文针对带连续状态集的信息物理系统，提出基于混合屏障证书的无抽象自动机框架验证可诊断性，结合平方和规划与反例引导归纳综合搜索证书，可诊断时还能构建在线诊断器，经案例验证有效。
Control Barrier Corridors: From Safety Functions to Safe Sets
本文提出控制屏障走廊概念，通过统一控制屏障函数与安全运动走廊方法，实现安全目标选择与持续路径跟随。
Safety for Weakly-Hard Control Systems via Graph-Based Barrier Functions
本文提出基于图的障碍函数方法，用于保障弱硬约束控制系统的安全性，通过缓解保守性并提高计算可行性，验证了方法的有效性。
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 …
扫码添加微信好友，提出您的宝贵建议 👇
💡 备注请填写：网站反馈
发表机构由 AI 从论文文本抽取，如发现错误，欢迎反馈修正建议。