Barrier Functions Against Safety Drift in Shared Control

RESUMO

Shared-control arbitration mechanisms can fail structurally when they are driven by quantities that evolve on the same automation-assisted trajectory that unsafe automation can corrupt. Under unsafe assistance, arising from faults or flawed design, the arbitration logic can adapt to the corrupted trajectory instead of resisting it. Focusing on workload regulation, this paper proposes a framework that prevents this problem by anchoring the safety constraints to an unassisted pilot trajectory. A baseline model evolving without automation assistance generates the acceptable workload envelope, while an assistance-induced deviation barrier and a closed-form mismatch bound relate actual and baseline workload evolution. The resulting control barrier function based quadratic program is always feasible and guarantees forward invariance of an augmented safe set. Simulations on an F-16 pitch-tracking problem show that the proposed method prevents workload-constraint drift under unsafe assistance.