共享控制中对抗安全漂移的屏障函数
Barrier Functions Against Safety Drift in Shared Control
- Illinois Institute of Technology（伊利诺伊理工学院）
- Bilkent University（比尔肯特大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种基于控制屏障函数的框架，通过锚定无辅助轨迹生成安全包络，防止共享控制中不安全自动化导致的工作负荷约束漂移，并在F-16仿真中验证有效性。
AI中文摘要：
共享控制的仲裁机制在由不安全自动化可能破坏的同一自动化辅助轨迹上演化的量驱动时，可能在结构上失效。在由于故障或设计缺陷导致的不安全辅助下，仲裁逻辑可能适应被破坏的轨迹而非抵抗它。聚焦于工作负荷调节，本文提出一个框架，通过将安全约束锚定在无辅助飞行员轨迹上来防止此问题。一个无自动化辅助演化的基线模型生成可接受的工作负荷包络，而一个辅助引起的偏差屏障和一个闭式失配界将实际与基线工作负荷演化相关联。由此产生的基于控制屏障函数的二次规划始终可行，并保证增广安全集的前向不变性。在F-16俯仰跟踪问题上的仿真表明，所提方法在不安全辅助下防止了工作负荷约束漂移。
英文摘要：
Shared-control arbitration mechanisms can fail structurally when they are driven by quantities that evolve on the same automation-assisted trajectory that unsafe automation can corrupt. Under unsafe assistance, arising from faults or flawed design, the arbitration logic can adapt to the corrupted trajectory instead of resisting it. Focusing on workload regulation, this paper proposes a framework that prevents this problem by anchoring the safety constraints to an unassisted pilot trajectory. A baseline model evolving without automation assistance generates the acceptable workload envelope, while an assistance-induced deviation barrier and a closed-form mismatch bound relate actual and baseline workload evolution. The resulting control barrier function based quadratic program is always feasible and guarantees forward invariance of an augmented safe set. Simulations on an F-16 pitch-tracking problem show that the proposed method prevents workload-constraint drift under unsafe assistance.
