In the preceding chapter, we discussed the fundamentals of Lyapunov theory, and how these ideas can be used to design controllers enforcing stability of dynamical systems. In the present chapter, we discuss how such ideas can be transposed to address the problem of safety. Informally, safety can be thought of as requiring a system to never do anything “bad.” This abstract notion is dependent on the application under consideration. For example, in autonomous driving, safety may correspond to an autonomous vehicle never leaving its current lane, whereas for a robot navigating in a cluttered environment, safety may correspond to avoiding collisions with obstacles. In this book, the notion of safety is linked to set invariance, in the sense that a system is safe if it never leaves a set deemed “good”. In the last chapter of the book (Chap. 9), we will briefly discuss the satisfaction of temporal logic formulas, which includes (is strictly more expressive than) safety, and is usually referred to as “correctness". Safety is defined in Sect. 3.1, before control barrier functions used to enforce it are introduced in Sects. 3.2 and 3.3. Final remarks, references, and suggestions for further reading are included in Sect. 3.4.
Safety-Critical Control
synth. Lectures on Computer sci.
2023-05-16
28 pages
Article/Chapter (Book)
Electronic Resource
English
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