发表机构
University of Florida; Naval Surface Warfare Center, Panama City Division（佛罗里达大学; 海军水面作战中心巴拿马城分部）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对线性系统提出双LIF事件触发安全滤波器，考虑控制障碍函数二次规划的计算延迟，通过阈值触发计算保证安全性，航天器仿真显示其优化器调用更少。
AI 中文摘要
依赖控制障碍函数（CBF）二次规划（QP）的安全滤波器，通常在QP被瞬时求解的假设下进行分析，尽管非零计算时间可能导致计算出的输入在应用时变得不安全。本文针对线性系统提出了一种双泄漏积分放电（LIF）事件触发安全滤波器，该滤波器考虑了这种延迟。两个LIF状态分别监测偏移后的CBF残差和保持输入与标称反馈律的偏差；当任一LIF状态达到阈值时，将发起一次计算，之前的输入会保持应用至规定的应用时间，更早返回的任何解都会被存储直至该时间。闭式充电轮廓将安全LIF阈值与残差增长边界关联，确保在应用延迟上有足够的残差裕度。在所述假设下，所得混合系统保证前向不变性、完备性和非芝诺执行，且计算发起和输入应用时间均有正下界。航天器终端接近仿真表明，与延迟收紧的周期滤波器相比，该方法在更少的优化器调用下即可保证安全性。
英文摘要
Safety filters that rely on control barrier function (CBF) quadratic programs (QPs) are typically analyzed under the assumption that the QP is solved instantaneously, although nonzero computation time can render a computed input unsafe by the time it is applied. This paper develops a dual leaky integrate-and-fire (LIF) event-triggered safety filter for linear systems that accounts for this delay. Two LIF states monitor a shifted CBF residual and the deviation of the held input from the nominal feedback law. A computation is initiated when either LIF state reaches its threshold; the previous input remains applied until the prescribed application time, and any solution returned earlier is stored until then. A closed-form charging profile relates the safety-LIF threshold to residual-growth bounds, ensuring sufficient residual margin over the application delay. Under the stated assumptions, the resulting hybrid system guarantees forward invariance, completeness, and non-Zeno execution, with positive lower bounds on computation-initiation and input-application times. A spacecraft terminal-approach simulation demonstrates safety with fewer optimizer calls than a delay-tightened periodic filter.
Comments11 pages, 4 figures, submitted to 2027 IEEE American Control Conference
