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.

翻译：随着现代系统日益互联并形成复杂的动态耦合关系，开发安全控制方法变得至关重要。本文讨论了具有局部邻域动态特性的智能体节点级安全定义之间的关系。我们定义了协同控制屏障函数（CCBF），并给出了由这些函数定义的集合具有前向不变性的条件。利用协同节点级控制屏障函数，我们构建了一种新颖的\edit{去中心化}算法，用于协作网络智能体的安全控制，并提供了该算法能保证所有智能体收敛至可行安全控制动作集的条件。我们在网络化易感-感染-易感（SIS）模型上验证了这些结果。