On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws

DOI10.1109/TAC.2022.3168240MaRDI QIDQ6052089zbMATH OpenFDO

Authors Wenceslao Shaw Cortez, Dimos V. Dimarogonas

Publication date 21 September 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2008.12179

zbMATH Keywords

asymptotic stabilityautonomous systemscollision avoidancenonlinear control systemsrobot control

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i.e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems. The results are dependent on an asymptotically stabilizing control law and a zeroing control barrier function (ZCBF), but do not require a control Lyapunov function (CLF). Sufficient conditions for a region of attraction are defined for which the proposed control safely stabilizes the system, while preserving the decrescent Lyapunov function of the original stabilizing control law. The proposed methodology for nonlinear affine systems requires checking conditions of the system dynamics over a substantial portion of the state space, which may be computationally expensive. To facilitate the search for compatibility, we extend the results to a class of nonlinear systems including mechanical systems for which a novel controller is designed to guarantee passivity, safety, and stability. Numerical examples are used to demonstrate the proposed technique.

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Cited in

(3)

• Safety critical control design for nonlinear system with tracking and safety objectives
• Control barrier function-based safety filters: characterization of undesired equilibria, unbounded trajectories, and limit cycles
• Independence of closed-loop equilibria and stability from the choice of control barrier function for a given safe set

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