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Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts

Chen, Yuxiao and Anderson, James and Kalsi, Karan and Ames, Aaron D. and Low, Steven H. (2021) Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts. IEEE Transactions on Control of Network Systems, 8 (1). pp. 487-499. ISSN 2325-5870. doi:10.1109/TCNS.2020.3029183.

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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 guaranteed to stay within the safe set. Furthermore, we propose a contingency tube model predictive control approach based on the RCI, which is capable of handling severe contingencies, including topology changes of the network. A power grid example is used to demonstrate the proposed method. The simulation result includes both set point control and contingency recovery, and the safety constraint is always satisfied.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Chen, Yuxiao0000-0001-5276-7156
Anderson, James0000-0002-2832-8396
Ames, Aaron D.0000-0003-0848-3177
Low, Steven H.0000-0001-6476-3048
Additional Information:© 2020 IEEE. Manuscript received May 25, 2020; revised May 25, 2020 and June 5, 2020; accepted September 14, 2020. Date of publication October 6, 2020; date of current version February 26, 2021. This work was supported by the Battelle Memorial Institute, Pacific Northwest Division under Grant #424858. Recommended by Associate Editor A. D. Dominguez-Garcia.
Funding AgencyGrant Number
Battelle Memorial Institute424858
Subject Keywords:Electrical safety, networked control systems
Issue or Number:1
Record Number:CaltechAUTHORS:20200707-113800670
Persistent URL:
Official Citation:Y. Chen, J. Anderson, K. Kalsi, A. D. Ames and S. H. Low, "Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts," in IEEE Transactions on Control of Network Systems, vol. 8, no. 1, pp. 487-499, March 2021, doi: 10.1109/TCNS.2020.3029183
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104252
Deposited By: Tony Diaz
Deposited On:07 Jul 2020 18:41
Last Modified:29 Apr 2021 20:43

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