基于安全屏障贝叶斯优化的安全临界控制最优参数自适应

IF 3.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Shengbo Wang;Ke Li;Zheng Yan;Zhenyuan Guo;Song Zhu;Guanghui Wen;Shiping Wen
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引用次数: 0

摘要

在控制系统中,安全是最重要的,以避免昂贵的风险和灾难性的损害。控制障碍函数(CBF)方法是一种很有前途的安全临界控制方法,但由于其直接修改了原控制设计并引入了未校准参数,对提高控制性能提出了新的挑战。在这项工作中,我们阐明了可配置参数在CBF方法中的关键作用,通过系统的分类来提高性能。在此基础上,我们提出了一种将CBF方法与贝叶斯优化(BO)相结合的新框架来优化安全控制性能。考虑到可行性/安全性关键约束,我们开发了一个安全版本的BO,使用基于屏障的内部方法来有效地搜索有希望的可行可配置参数。此外,我们还提供了关于安全性和最优性的框架的理论标准。我们的框架的一个本质优势在于它可以在模型不可知的环境中工作,在设计目标和约束函数时留下足够的灵活性。最后,对摆起控制和高保真自适应巡航控制(ACC)进行了仿真,验证了该框架的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Optimal Parameter Adaptation for Safety-Critical Control via Safe Barrier Bayesian Optimization
Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control performance due to its direct modification of original control design and the introduction of uncalibrated parameters. In this work, we shed light on the crucial role of configurable parameters in the CBF method for performance enhancement with a systematical categorization. Based on that, we propose a novel framework combining the CBF method with Bayesian optimization (BO) to optimize the safe control performance. Considering feasibility/safety-critical constraints, we develop a safe version of BO using the barrier-based interior method to efficiently search for promising feasible configurable parameters. Furthermore, we provide theoretical criteria of our framework regarding safety and optimality. An essential advantage of our framework lies in that it can work in model-agnostic environments, leaving sufficient flexibility in designing objective and constraint functions. Finally, simulations on swing-up control and high-fidelity adaptive cruise control (ACC) are conducted to demonstrate the effectiveness of our framework.
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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