论文标题
用于安全控制不确定输出反馈系统的屏障对
Barrier Pairs for Safety Control of Uncertain Output Feedback Systems
论文作者
论文摘要
安全控制的屏障函数方法通常假定全州信息的可用性。不幸的是，在许多涉及不确定动态系统的情况下，通常无法使用完整的状态信息。在本文中，我们旨在解决使用部分状态信息的不确定单输出系统的安全控制问题。首先，我们开发了一种合成方法，该方法同时创建屏障函数和动态输出反馈安全控制器。该安全控制器确保屏障函数的单位子级值是在系统的不确定动力和干扰下的不变集。然后，我们构建了一个基于标识符的估计器，该估计器为系统的不确定模型参数提供了状态估计仿射。为了检测系统的潜在风险，故障检测器使用状态估计来找到屏障功能的上限。当系统的原始操作导致潜在的安全问题并在安全控制器解决潜在的安全问题时，故障探测器会触发安全控制器。
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper, we aim to solve the safety control problem for an uncertain single-input single-output system with partial state information. First, we develop a synthesis method that simultaneously creates a barrier function and a dynamic output feedback safety controller. This safety controller guarantees that the unit sub-level set of the barrier function is an invariant set under the uncertain dynamics and disturbances of the system. Then, we build an identifier-based estimator that provides a state estimate affine to the uncertain model parameters of the system. To detect the potential risks of the system, a fault detector uses the state estimate to find an upper bound for the barrier function. The fault detector triggers the safety controller when the system's original action leads to a potential safety issue and resumes the original action when the potential safety issue is resolved by the safety controller.
