Extent-compatible control barrier functions

DOI10.1016/J.SYSCONLE.2021.104895MaRDI QIDQ2242997zbMATH OpenOpenAlexFDO

Authors Mohit Srinivasan, Matthew Abate, Gustav Nilsson, Samuel Coogan

Publication date 10 November 2021

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2001.07210

zbMATH Keywords

set invariancequadratic programscontrol barrier functions

Mathematics Subject Classification ID

Quadratic programming (90C20) Existence theories for optimal control problems involving partial differential equations (49J20) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and storage functions (93D30)

Abstract: Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an effective tool to enforce such constraints and guarantee safety when the system is represented as a point in the state space. In this paper, we introduce extent-compatible control barrier functions as a tool to enforce safety for the system including its volume (extent) in the physical world. In order to implement the extent-compatible control barrier functions framework, a sum-of-squares based optimization program is proposed. Since sum-of-squares programs can be computationally prohibitive, we additionally introduce a sampling based method in order to retain the computational advantage of a traditional barrier function based quadratic program controller. We prove that the proposed sampling based controller retains the guarantee for safety. Simulation and robotic implementation results are also provided.

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• scientific article; zbMATH DE number 3913114

Cites work

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Cited in

(7)

• Safe-by-design control for Euler-Lagrange systems
• Multiple tasks control of nonlinear systems under signal temporal logic and its application to mobile robots
• Smooth converse Lyapunov-barrier theorems for asymptotic stability with safety constraints and reach-avoid-stay specifications
• Safety control of a class of fully actuated systems subject to uncertain actuation dynamics
• Soft-minimum and soft-maximum barrier functions for safety with actuation constraints
• Barriers and potentially safe sets in hybrid systems: pendulum with non-rigid cable
• Stabilization with guaranteed safety using barrier function and control Lyapunov function

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