Safe control synthesis using environmentally robust control barrier functions

DOI10.1016/J.EJCON.2023.100840MaRDI QIDQ6092437zbMATH OpenOpenAlexFDO

Authors Vahid Hamdipoor, Nader Meskin, Christos G. Cassandras

Publication date 23 November 2023

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2304.11600

zbMATH Keywords

control barrier functionsenvironmentally robust control barrier functionsrobust control barrier functionssafe control synthesis

Mathematics Subject Classification ID

Quadratic programming (90C20) Sensitivity (robustness) (93B35) Synthesis problems (93B50) Adaptive control/observation systems (93C40)

Abstract: In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an optimization-based control synthesis framework. It is first shown that environmentally robust CBF formulations result in second-order cone programs (SOCPs). Then, a novel scheme is presented to formulate robust CBFs which takes the nominally safe control as its desired control input in optimization-based control design and then tries to minimally modify it whenever the robust CBF constraint is violated. This proposed scheme leads to quadratic programs (QPs) which can be easily solved. Finally, the effectiveness of the proposed approach is demonstrated on an adaptive cruise control example.

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Cites work

• Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles
• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Control barrier functions for stochastic systems
• scientific article; zbMATH DE number 2107836 (Why is no real title available?)
• Optimization models
• Robust control barrier functions for constrained stabilization of nonlinear systems
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Cited in

(4)

• Safety‐critical control for robotic systems with uncertain model via control barrier function
• Feasibility and regularity analysis of safe stabilizing controllers under uncertainty
• Invariant set estimation for piecewise affine dynamical systems using piecewise affine barrier function
• Nonlinear cruise controllers with bidirectional sensing for a string of vehicles

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