论文标题
使用屏障功能的足够条件可在差分夹杂物中稳健安全
Sufficient Conditions for Robust Safety in Differential Inclusions Using Barrier Functions
论文作者
论文摘要
在这篇简短的论文中，我们为差异包含介绍了一个强大的安全概念，我们提出了一个一般框架，以证明这种障碍功能的概念。尽管现有文献仅研究了我们通过统一的鲁棒安全性指定的内容，但在本文中，我们在统一和非统一鲁棒安全概念之间做出了明确的区分。在这两种情况下，我们都会在名义（不受干扰的）系统上建立足够的（无限）条件。也就是说，我们的条件仅涉及屏障功能和系统的右侧。我们的结果允许无限的安全区域以及非平滑屏障功能。在整篇文章中，提供了简单的示例来说明我们的结果。
In this brief paper we introduce a robust-safety notion for differential inclusions, and we propose a general framework to certify such a notion in terms of barrier functions. While existing literature studied only what we designate by uniform robust safety, in this paper, we make a clear distinction between the uniform and the non-uniform robust-safety notions. For both cases, we establish sufficient (infinitesimal) conditions on the nominal (unperturbed) system. That is, our conditions involve only the barrier function and the system's right-hand side. Our results allow for unbounded safety regions as well as nonsmooth barrier functions. Throughout the paper, simple examples are provided to illustrate our results.
