A Robust, Efficient Predictive Safety Filter
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
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| _version_ | 1866914771982352384 |
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| author | Cortez, Wenceslao Shaw Drgona, Jan Vrabie, Draguna Halappanavar, Mahantesh |
| author_facet | Cortez, Wenceslao Shaw Drgona, Jan Vrabie, Draguna Halappanavar, Mahantesh |
| contents | In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject disturbances for discrete-time, time-varying nonlinear systems with time-varying constraints. The safety filter is based on novel concepts of robust, discrete-time barrier functions and can be used to filter any control law. Here, we use the safety filter in conjunction with Differentiable Predictive Control (DPC) as a promising offline learning-based policy optimization method. The approach is demonstrated on a two-tank system, building, and single-integrator example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_08496 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | A Robust, Efficient Predictive Safety Filter Cortez, Wenceslao Shaw Drgona, Jan Vrabie, Draguna Halappanavar, Mahantesh Systems and Control In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject disturbances for discrete-time, time-varying nonlinear systems with time-varying constraints. The safety filter is based on novel concepts of robust, discrete-time barrier functions and can be used to filter any control law. Here, we use the safety filter in conjunction with Differentiable Predictive Control (DPC) as a promising offline learning-based policy optimization method. The approach is demonstrated on a two-tank system, building, and single-integrator example. |
| title | A Robust, Efficient Predictive Safety Filter |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2311.08496 |