Safety-Critical Control With Limited Information

被引：0

作者：

Clouatre M. ^{[1
]}

Thitsa M. ^{[2
]}

Kinney W. ^{[2
]}

Conti A. ^{[3
]}

Win M.Z. ^{[4
]}

机构：

[1] Wireless Information and Network Sciences Laboratory, Massachusetts Institute of Technology, Cambridge, MA

[2] Department of Electrical and Computer Engineering, Mercer University, Macon, GA

[3] Department of Engineering and CNIT, University of Ferrara, Ferrara

[4] Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA

来源：

IEEE Control Systems Letters | 2024年 / 8卷

基金：

美国国家科学基金会;

关键词：

barrier function; Control systems; control with limited information; networked control; Nonlinear systems; Observers; Robustness; safety; Safety; Safety escape time; State feedback; Trajectory;

D O I：

10.1109/LCSYS.2024.3415477

中图分类号：

学科分类号：

摘要：

This letter explores safety-critical control of nonlinear systems in settings where a finite-rate communication channel stands in the path of state feedback. We show that the mere existence of a nominally safe control law (certified by an exponential barrier function) suffices to provide safe control in these limited-information settings. We introduce the notion of “safety escape time”, the minimum time a system takes to become unsafe in the absence of actuation. The results complement the existing literature on stabilizing control with limited information and represent a step towards a complete understanding of safety-critical control with limited information. IEEE

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