A Unified Safety Protection and Extension Governor
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2023
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866917589399109632 |
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| author | Li, Nan Li, Yutong Kolmanovsky, Ilya |
| author_facet | Li, Nan Li, Yutong Kolmanovsky, Ilya |
| contents | In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system safe indefinitely when such a control exists. When such a control does not exist due to abnormal system states, it optimizes the control to maximize the time before any safety violation, which translates into more time to seek recovery and/or mitigate any harm. We describe the scheme and develop an approach that integrates the two capabilities into a single constrained optimization problem with only continuous variables. For linear systems with convex constraints, the problem reduces to a convex quadratic program and is easy to solve. We illustrate the proposed safety supervisor with an automotive example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2304_07984 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | A Unified Safety Protection and Extension Governor Li, Nan Li, Yutong Kolmanovsky, Ilya Systems and Control Optimization and Control In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system safe indefinitely when such a control exists. When such a control does not exist due to abnormal system states, it optimizes the control to maximize the time before any safety violation, which translates into more time to seek recovery and/or mitigate any harm. We describe the scheme and develop an approach that integrates the two capabilities into a single constrained optimization problem with only continuous variables. For linear systems with convex constraints, the problem reduces to a convex quadratic program and is easy to solve. We illustrate the proposed safety supervisor with an automotive example. |
| title | A Unified Safety Protection and Extension Governor |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2304.07984 |