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Open access
Date
2023Type
- Conference Paper
ETH Bibliography
yes
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Abstract
Safety filters provide modular techniques to augment potentially unsafe control inputs (e.g. from learning-based controllers or humans) with safety guarantees in the form of constraint satisfaction. In this paper, we present an improved model predictive safety filter (MPSF) formulation, which incorporates system level synthesis techniques in the design. The resulting SL-MPSF scheme ensures safety for linear systems subject to bounded disturbances in an enlarged safe set. It requires less severe and frequent modifications of potentially unsafe control inputs compared to existing MPSF formulations to certify safety. In addition, we propose an explicit variant of the SL-MPSF formulation, which maintains scalability, and reduces the required online computational effort - the main drawback of the MPSF. The benefits of the proposed system level safety filter formulations compared to state-of-the-art MPSF formulations are demonstrated using a numerical example. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000615512Publication status
publishedExternal links
Book title
Proceedings of The 5th Annual Learning for Dynamics and Control ConferenceJournal / series
Proceedings of Machine Learning ResearchVolume
Pages / Article No.
Publisher
PMLREvent
Subject
Safety Filter; Satefy certification; Model Predictive Control; System Level SynthesisOrganisational unit
09563 - Zeilinger, Melanie / Zeilinger, Melanie
Funding
180545 - NCCR Automation (phase I) (SNF)
Related publications and datasets
Is supplemented by: https://gitlab.ethz.ch/ics/SLS_safety_filter/
Is supplemented by: https://doi.org/10.3929/ethz-b-000611665
Is new version of: https://doi.org/10.48550/ARXIV.2212.02111
Notes
This work has been supported by the European Space Agency under OSIP 4000133352, the Swiss Space Center, and the Swiss National Science Foundation under NCCR Automation (grant agreement 51NF40 180545).
Code: https://gitlab.ethz.ch/ics/SLS_safety_filter/More
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ETH Bibliography
yes
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