论文标题
平滑的匡威Lyapunov - 栏定理,用于渐近稳定性,并具有安全限制和远距离停机规格
Smooth Converse Lyapunov-Barrier Theorems for Asymptotic Stability with Safety Constraints and Reach-Avoid-Stay Specifications
论文作者
论文摘要
稳定性和安全性是动态系统安全至关重要控制的两个重要方面。在控制理论中,稳定性可以通过Lyapunov函数来表征稳定的事实。 Lyapunov函数也可以自然捕获可及性属性,以实现有限的时间稳定性。由安全 - 关键控制应用(例如在自主系统和机器人技术中)激发的动机,最近在使用屏障功能表征安全性能方面引起了人们的兴趣。但是,Lyapunov和障碍功能条件有时被视为竞争目标。在本文中,我们就具有安全性保证和Aver-Avoid-Ad-stay类型规格的晶状理定理提供了对Lyapunov和障碍函数的统一理论处理。我们表明,如果系统(模型为具有可测量扰动的动态系统)具有与安全性属性的稳定性,则存在一个光滑的Lyapunov功能来证明这种属性。该lyapunov函数显示在整个初始条件下定义了解决方案满足该属性的整个初始条件。对于Aver-Avoid-stay规格发表了类似但稍弱的声明。我们以一个简单的例子表明,如果没有其他假设,就无法加强后一个陈述。我们进一步扩展了具有控制输入的系统的结果,并证明了与远程和避免规格的匡威Lyapunov绑带函数的存在。尽管与经典的converse lyapunov定理一样,匡威lyapunov鲍尔定理不是建设性的,但我们认为,具有单个lyapunov驻携带者功能的统一必要和充分条件具有理论上的兴趣,并且希望能够对计算方法阐明一些启示。
Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability properties can also be naturally captured by Lyapunov functions for finite-time stability. Motivated by safety-critical control applications, such as in autonomous systems and robotics, there has been a recent surge of interests in characterizing safety properties using barrier functions. Lyapunov and barrier functions conditions, however, are sometimes viewed as competing objectives. In this paper, we provide a unified theoretical treatment of Lyapunov and barrier functions in terms of converse theorems for stability properties with safety guarantees and reach-avoid-stay type specifications. We show that if a system (modeled as a dynamical system with measurable perturbations) possesses a stability with safety property, then there exists a smooth Lyapunov function to certify such a property. This Lyapunov function is shown to be defined on the entire set of initial conditions from which solutions satisfy this property. A similar but slightly weaker statement is made for reach-avoid-stay specifications. We show by a simple example that the latter statement cannot be strengthened without additional assumptions. We further extend the results for systems with control inputs and prove existence of converse Lyapunov-barrier functions for reach-and-avoid specifications. While the converse Lyapunov-barrier theorems are not constructive, as with classical converse Lyapunov theorems, we believe that the unified necessary and sufficient conditions with a single Lyapunov-barrier function are of theoretical interest and can hopefully shed some light on computational approaches.