Robust Exponential Control Barrier Functions for Safety-Critical Control

Chinelato, Caio Igor Gonçalves; Angélico, Bruno Augusto

doi:10.23919/acc50511.2021.9482899

Cited by 4 publications

(1 citation statement)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The barrier functions h 1 and h 3 go slightly before zero: −0.0282, more precisely. This effect can easily be accommodated by being more conservative when selecting h 1 and h 3 , or using the robust safety-critical control theory in the current literature (XU et al, 2015;ANGÉLICO, 2021). The original safe set, shown in Figure 54a (continuous line), is not violated.…”

Section: Control-dependent Exponential Barrier Function Implementationmentioning

confidence: 99%

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Alves

View full text Add to dashboard Cite

Aplicamos controle de segurança crítica a controle eletrônico de estabilidade, com foco em estabilidade lateral. As vantagens inerentes de controle eletrônico de estabilidade de veículos automotores e as restrições intrínsecas de segurança presentes em sistemas de emergência justificam a proposta. Os fundamentos de dinâmica e estabilidade veicular são apresentados, subdivididos em dinâmica de pneus, corpo e chassi, e controle. Segue uma introdução à teoria de funções de controle de barreira, apresentando suas propriedades, vantagens, e limitações. Inicialmente, aprimoramos e corrigimos métodos de geração de regiões de estabilidade lateral. Após, estendemos teoria de controle de segurança crítica baseada em funções de barreira de controle para acomodar controle eletrônico de estabilidade usando esterçamento ativo e frenagem diferencial. Por fim, investigamos a viabilidade de funções de barreira de controle para estabilidade veicular após as referidas extensões, concluindo que os requisitos são satisfeitos. Validamos as propostas através de simulação usando modelos cada vez mais complexos, desde modelos de segunda ordem linearizados a softwares comerciais de simulação veicular. Palavras-chave: Dinâmica veicular.

show abstract

Section: Control-dependent Exponential Barrier Function Implementationmentioning

confidence: 99%

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Alves

View full text Add to dashboard Cite

show abstract

Event‐triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle

Wang,

Wu,

Tang

et al. 2024

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryThis article addresses the safe tracking control problem of quadrotor unmanned aerial vehicles (QUAV) considering uncertain aerodynamics and unknown external disturbances. First, a robust adaptive backstepping controller is designed, where the bias of the control variable, that is, the tracking error of the attitude subsystem, is considered in the design process of the position subsystem. Meanwhile, the safe obstacle avoidance objective is realized by the quadratic programming (QP) method that combines the tracking controller with the exponential control barrier function (ECBF). Furthermore, an event‐triggered mechanism is used for the QP process to conserve computing resources. Simulation validates the feasibility and superiority of the proposed control scheme in presence of multi‐obstacle.

show abstract

Sufficient Conditions for Uniform Asymptotic Stability and Input-to-State Stability Using High-Order Control Barrier Functions

Marley,

Skjetne,

Teel

2024

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

Control barrier functions (CBFs) ensure safety of controlled dynamical systems by enforcing forward invariance of safe subsets of the state space. Firstorder CBFs are applicable for systems where the control input appears in the first time derivative of the controlled output. High-order CBFs (HOCBFs) extend the notion of CBFs to systems of any order, following a procedure reminiscent of the recursive design of a control Lyapunov function in backstepping. Asymptotic stability of compact safe sets for Lipschitz continuous HOCBF-based controllers has recently been reported in literature. In this paper, we extend this result by establishing sufficient conditions for uniform asymptotic stability of closed, but not necessarily compact, safe sets. Moreover, we show that uniform asymptotic stability holds for differential inclusions that correspond to allowing the control input to take on arbitrary values that satisfy the HOCBF-induced input constraints. This result circumvents the need to establish continuity properties of optimization-based safeguarding control laws. Sufficient conditions for input-to-state stability are also established, by constructing a vector comparison system from the worst-case evolution of the HOCBF along the disturbed versions of the aforementioned differential inclusions. The theoretical results are illustrated by two case studies.

show abstract

Robust Exponential Control Barrier Functions for Safety-Critical Control

Cited by 4 publications

References 27 publications

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Event‐triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle

Sufficient Conditions for Uniform Asymptotic Stability and Input-to-State Stability Using High-Order Control Barrier Functions

Contact Info

Product

Resources

About