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

doi:10.1109/JAS.2021.1004347

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	Barrier-Certified Learning-Enabled Safe Control Design for Systems Operating in Uncertain Environments
	Zahra Marvi; Bahare Kiumarsi
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:3 页码:437-449
关键词	Control barrier functions (CBFs) experience replay learning safety-critical systems uncertainty
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004347
英文摘要	This paper presents learning-enabled barrier-certified safe controllers for systems that operate in a shared environment for which multiple systems with uncertain dynamics and behaviors interact. That is, safety constraints are imposed by not only the ego system’s own physical limitations but also other systems operating nearby. Since 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 agents. More 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 set. The 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 observations. It 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 environments. The efficacy of the proposed method is examined in a simulation of safe maneuver control of a vehicle in an urban area.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47206]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Zahra Marvi,Bahare Kiumarsi. Barrier-Certified Learning-Enabled Safe Control Design for Systems Operating in Uncertain Environments[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(3):437-449.
APA	Zahra Marvi,&Bahare Kiumarsi.(2022).Barrier-Certified Learning-Enabled Safe Control Design for Systems Operating in Uncertain Environments.IEEE/CAA Journal of Automatica Sinica,9(3),437-449.
MLA	Zahra Marvi,et al."Barrier-Certified Learning-Enabled Safe Control Design for Systems Operating in Uncertain Environments".IEEE/CAA Journal of Automatica Sinica 9.3(2022):437-449.