Title: Safety Barrier Certificates for Stochastic Control Systems with Wireless Communication Networks Show Chinese title

Title: 具有无线通信网络的随机控制系统的安全屏障证书

Abstract: This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and actuators. The proposed scheme is based on control barrier certificates (CBC), which allows us to provide safety certifications for wirelessly-connected stochastic control systems. Despite the available literature on designing control barrier certificates, there has been unfortunately no consideration of wireless communication networks to capture potential packet losses and end-to-end delays, which is absolutely crucial in safety-critical real-world applications. In our proposed setting, the key objective is to construct a control barrier certificate together with a safety controller while providing a lower bound on the satisfaction probability of the safety property over a finite time horizon. We propose a systematic approach in the form of sum-of-squares optimization and matrix inequalities for the synthesis of CBC and its associated controller. We demonstrate the efficacy of our approach on a permanent magnet synchronous motor. For the application of automotive electric steering under a wireless communication network, we design a CBC together with a safety controller to maintain the electrical current of the motor in a safe set within a finite time horizon while providing a formal probabilistic guarantee. Show Chinese abstract

Abstract: 本工作关注一种针对具有过程噪声和测量噪声的随机控制系统的安全控制器综合的正式方法，同时考虑传感器、控制器和执行器之间的无线通信网络。 所提出的方案基于控制屏障证书（CBC），使我们能够为无线连接的随机控制系统提供安全认证。 尽管已有大量关于设计控制屏障证书的研究，但遗憾的是，尚未考虑到无线通信网络以捕捉潜在的数据包丢失和端到端延迟，这在安全关键的实际应用中是绝对重要的。 在我们提出的设置中，主要目标是在构建控制屏障证书的同时与安全控制器一起提供安全属性在有限时间范围内的满足概率的下限。 我们提出了一种系统的方法，以平方和优化和矩阵不等式的形式来综合CBC及其相关控制器。 我们在永磁同步电机上展示了我们方法的有效性。 对于无线通信网络下的汽车电动转向应用，我们设计了一个CBC和一个安全控制器，以在有限时间范围内保持电机的电流在安全集合内，并提供形式化的概率保证。