Predictive safety filter using system level synthesis

Safety filters provide modular techniques to augment potentially unsafe control inputs (e.g. from learning-based controllers or humans) with safety guarantees in the form of constraint satisfaction. In this paper, we present an improved model predictive safety filter (MPSF) formulation, which incorporates system level synthesis techniques in the design. The resulting SL-MPSF scheme ensures safety for linear systems subject to bounded disturbances in an enlarged safe set. It requires less severe and frequent modifications of potentially unsafe control inputs compared to existing MPSF formulations to certify safety. In addition, we propose an explicit variant of the SL-MPSF formulation, which maintains scalability, and reduces the required online computational effort - the main drawback of the MPSF. The benefits of the proposed system level safety filter formulations compared to state-of-the-art MPSF formulations are demonstrated using a numerical example.