Comparing Run Time Assurance Approaches for Safe Spacecraft Docking

Run Time Assurance (RTA) systems are online safety verification techniques that filter the output of a primary controller to assure safety. RTA approaches used in safety-critical control intervene when performance-driven would cause system violate constraints. This letter presents four categories based on their membership explicit or implicit monitoring and switching optimization interventions. To validate feasibility each approach compare computation time, RTAs defined for three-dimensional spacecraft docking example with constraints velocity.