Input-to-State Safety With Control Barrier Functions

被引：195

作者：

Kolathaya, Shishir ^{[1
]}

Ames, Aaron D. ^{[2
]}

机构：

[1] Indian Inst Sci, Robert Bosch Ctr Cyber Phys Syst, Bengaluru 560012, India

[2] CALTECH, Dept Mech & Civil Engn, Pasadena, CA 91125 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2019年 / 3卷 / 01期

基金：

美国国家科学基金会;

关键词：

Safety critical control; barrier functions; input-to-state safety; autonomous systems;

D O I：

10.1109/LCSYS.2018.2853698

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward invariance of a set, input-to-state safety conditions are specified in terms of forward invariance of a slightly larger set. In this context, invariance of the larger set implies that the states stay either inside or very close to the smaller safe set; and this closeness is bounded by the magnitude of the disturbances. The main contribution of the letter is the methodology used for obtaining a valid ISSf-CBF, given a control barrier function. The associated universal control law will also be provided. Towards the end, we will study unified quadratic programs that combine control Lyapunov functions and ISSf-CBFs in order to obtain a single control law that ensures both safety and stability in systems with input disturbances.

引用

页码：108 / 113

页数：6

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