用采样高效方法验证离散时间控制屏障函数的安全性
Sample Efficient Certification of Discrete-Time Control Barrier Functions
- 基于利普希茨连续性分析，简化安全约束验证过程
- 仅需少量样本即可完成屏障函数的可靠性认证
- 适合需要高安全性保障的实时控制系统设计
控制不变集（CI）在动态系统安全性认证中至关重要。控制屏障函数（CBFs）是计算此类集合的有效工具，因为CBF的零下水平集即为CI集。然而，计算CBF通常涉及复杂的鲁棒优化问题，可能难以求解。已有基于场景的方法用于简化计算，但需验证所获CBF是否满足鲁棒约束。本文提出一种基于利普希茨论证的验证方法，构建了面向采样高效的认证算法。通过数值例子验证了该方法的高效性。
原文摘要 · Abstract (English)
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs generally involves addressing a complex robust optimization problem, which can be intractable. Scenario-based methods have been proposed to simplify this computation. Then, one needs to verify if the CBF actually satisfies the robust constraints. We present an approach to perform this verification that relies on Lipschitz arguments, and forms the basis of a certification algorithm designed for sample efficiency. Through a numerical example, we validated the efficiency of the proposed procedure.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。