Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts

摘要: This article aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to break the large synthesis problem into smaller subproblems. Parameterized signal temporal logic (pSTL) is used to formally describe the behaviors of the subsystems which we use as the template for the contract. We show that robust control invariant sets (RCIs) for the subsystems can be composed to form a robust control invariant set (RCI) for the whole network system under a valid assume-guarantee contract. An epigraph algorithm is proposed to solve for a contract that is valid, an approach that has linear complexity for sparse networks, which leads to a RCI for the whole network system. Implemented with control barrier function (CBF), the state of each subsystem is …