Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). The framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control problem and a more complex robotics application on a Segway platform.

翻译：赋予非线性系统以安全行为在现代控制中日益重要,对于必须在动态变化的环境中安全运行的实际生活控制系统来说,这一任务尤其具有挑战性。本文件通过建立环境控制屏障功能的概念,为动态环境中的安全关键控制制定了框架。即使在输入延迟的情况下,框架也能保证安全,为此要考虑到系统反应迟缓期间环境的演变情况。基本控制合成依赖于预测系统的未来状况和环境在延迟间隔期的间隔期,并有强有力的安全保障防止预测错误。拟议方法的功效表现为简单的适应性巡航控制问题和塞格韦尔平台上更为复杂的机器人应用。