Barrier-Certified Learning-Enabled Safe Control Design for Systems Operating in Uncertain Environments

作     者：Zahra Marvi Bahare Kiumarsi Zahra Marvi;Bahare Kiumarsi

作者机构：IEEE Department of Electrical and Computer EngineeringMichigan State UniversityMI 48824 USA 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第3期

页      面：437-449页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

主　　题：Control barrier functions(CBFs) experience replay learning safety-critical systems uncertainty 

摘      要：This paper presents learning-enabled barriercertified safe controllers for systems that operate in a shared environment for which multiple systems with uncertain dynamics and behaviors *** is,safety constraints are imposed by not only the ego system’s own physical limitations but also other systems operating *** the model of the external agent is required to impose control barrier functions(CBFs)as safety constraints,a safety-aware loss function is defined and minimized to learn the uncertain and unknown behavior of external *** specifically,the loss function is defined based on barrier function error,instead of the system model error,and is minimized for both current samples as well as past samples stored in the memory to assure a fast and generalizable learning algorithm for approximating the safe *** proposed model learning and CBF are then integrated together to form a learning-enabled zeroing CBF(L-ZCBF),which employs the approximated trajectory information of the external agents provided by the learned model but shrinks the safety boundary in case of an imminent safety violation using instantaneous sensory *** is shown that the proposed L-ZCBF assures the safety guarantees during learning and even in the face of inaccurate or simplified approximation of external agents,which is crucial in safety-critical applications in highly interactive *** efficacy of the proposed method is examined in a simulation of safe maneuver control of a vehicle in an urban area.