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arXiv · 2310.03289

Collaborative Safety-Critical Control for Dynamically Coupled Networked Systems

Brooks A. Butler·Philip E. Paré
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Abstract

As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents with local neighborhood dynamics. We define a collaborative control barrier function (CCBF) and provide conditions under which sets defined by these functions will be forward invariant. We use collaborative node-level control barrier functions to construct a novel \edit{decentralized} algorithm for the safe control of collaborating network agents and provide conditions under which the algorithm is guaranteed to converge to a viable set of safe control actions for all agents. We illustrate these results on a networked susceptible-infected-susceptible (SIS) model.

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Brooks A. Butler, Philip E. Paré. 2023-10-05. Collaborative Safety-Critical Control for Dynamically Coupled Networked Systems. https://arxiv.org/abs/2310.03289

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