Soft Safety Analysis of Interconnected Systems

作     者：Zhang, Weihao Zhao, Di Liang, Shu 

作者机构：Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology Shanghai201804 China Tongji University National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai201804 China 

出 版 物：《IEEE Transactions on Automatic Control》 (IEEE Trans Autom Control)

年 卷 期：2024年第70卷第7期

页      面：4315-4329页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：National Key Research and Development Program of China National Natural Science Foundation of China Shanghai Municipal Science and Technology Major Project Fundamental Research Funds for the Central Universities of China 

主　　题：State space methods 

摘      要：This paper introduces the concept of soft safety for nonlinear dynamical systems, examined from an input-output perspective, and establishes criteria for verifying soft safety in interconnected systems. Diverging from traditional safety approaches that enforce rigid/hard constraints on system states, our proposal involves integrating soft barrier functions with respect to system inputs and outputs to characterize soft safety. Particularly, when the soft barrier function takes a quadratic form with a constant QSR multiplier - later extended to a dynamic multiplier - we further define QSR safety for a class of nonlinear systems subject to quadratic constraints on input-output signals. The paper presents methods for analyzing QSR safety in both open-loop systems with state-space representations and interconnected systems, with these methods subsequently employed to design QSR soft safe systems meeting prescribed safety and stability requirements. Numerical and simulation examples are provided to illustrate the rationality of the concept and the efficacy of the results. © 1963-2012 IEEE.