A Unified Safety Protection and Extension Governor

• 成果类型: Article
• 署名作者: Li, Nan; Li, Yutong; Kolmanovsky, Ilya
• 署名单位: Tongji University; Ford Motor Company; University of Michigan System; University of Michigan
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3489723
• 发表日期: 2025
• 页码: 2599-2606
• 关键词: protection; optimization; filters; Linear systems; Automotive engineering; Supervisory control; Systems operation; motors; companies; Additives; algorithms; constraints; Predictive control; safety-critical systems

摘要

In this note, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that keeps the system safe indefinitely when such a control exists. When such a control does not exist, it optimizes the control to maximize the time before any safety violation, which translates into more time to seek recovery and/or mitigate any harm. We describe the scheme and develop an approach that integrates the two abilities into a single constrained optimization problem with only continuous variables. For linear systems with convex constraints, the problem reduces to a convex quadratic program and is easy to solve. We illustrate the proposed safety supervisor with an automotive example.