Robust control barrier functions under high relative degree and input constraints for satellite trajectories
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Publication:6109989
Abstract: This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with high-relative-degree with respect to the system dynamics, the paper considers three methodologies, two for relative-degree 2 and one for higher relative-degrees, for creating CBFs whose zero sublevel sets are subsets of the constraint function's zero sublevel set. Three special forms of Robust CBFs (RCBFs) are developed as functions of the input constraints, system dynamics, and disturbance bounds, such that the resultant RCBF condition on the control input is always feasible for states in the RCBF zero sublevel set. The RCBF condition is then enforced in a switched fashion, which allows the system to operate safely without enforcing the RCBF condition when far from the safe set boundary and allows tuning of how closely trajectories approach the safe set boundary. The proposed methods are verified in simulations demonstrating the developed RCBFs in an asteroid flyby scenario for a satellite with low-thrust actuators, and in asteroid proximity operations for a satellite with high-thrust actuators.
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Cites work
- A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates
- Constrained control of input-output linearizable systems using control sharing barrier functions
- Control Barrier Function Based Quadratic Programs for Safety Critical Systems
- Fixed-Time Stable Gradient Flows: Applications to Continuous-Time Optimization
- High-Order Barrier Functions: Robustness, Safety, and Performance-Critical Control
- scientific article; zbMATH DE number 1182386 (Why is no real title available?)
- Linear and nonlinear programming
- Ordinary differential equations and dynamical systems
- Robust control barrier functions for constrained stabilization of nonlinear systems
- Robust control barrier functions under high relative degree and input constraints for satellite trajectories
- Set invariance in control
Cited in
(15)- On the construction of safe controllable regions for affine systems with applications to robotics
- Barrier Lyapunov function-based adaptive fuzzy attitude tracking control for rigid satellite with input delay and output constraint
- Sufficient conditions for feasibility of optimal control problems using control barrier functions
- Safe-by-design control for Euler-Lagrange systems
- Control barrier functions for stochastic systems
- Safe control synthesis using environmentally robust control barrier functions
- Robust control barrier functions under high relative degree and input constraints for satellite trajectories
- Feasibility‐guaranteed safety‐critical control with high‐order control barrier function method
- Barrier function-based prescribed-performance adaptive attitude tracking control for spacecraft with uncertainties
- Constrained control of input-output linearizable systems using control sharing barrier functions
- Safe affine formation using terminal sliding mode control with input constraints
- Distributed safety-critical control of nonlinear multi-agent systems
- Input-to-state safety of switched systems with single barrier function and its application to aero-engine
- Control barrier functions and safety-critical control with input constraints for stochastic systems
- Output tracking and safety-critical control for affine nonlinear systems with high-relative-degree outputs and safety constraints
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