Collaborative Safety-Critical Control for Dynamically Coupled Networked Systems

Abstract

As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents with local neighborhood dynamics. We define a collaborative control barrier function (CCBF) and provide conditions under which sets defined by these functions will be forward invariant. We use collaborative node-level control barrier functions to construct a novel \edit{decentralized} algorithm for the safe control of collaborating network agents and provide conditions under which the algorithm is guaranteed to converge to a viable set of safe control actions for all agents. We illustrate these results on a networked susceptible-infected-susceptible (SIS) model.