Input-to-State Safety With Control Barrier Functions

This letter presents a new notion of inputto-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 spe...

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Bibliographic Details
Published inIEEE control systems letters Vol. 3; no. 1; pp. 108 - 113
Main Authors Kolathaya, Shishir, Ames, Aaron D.
Format Journal Article
LanguageEnglish
Published IEEE 01.01.2019
Subjects
autonomous systems
barrier functions
input-to-state safety
Real-time systems
Robots
Safety
Safety critical control
Sensors
Stability criteria
Uncertainty
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Summary:This letter presents a new notion of inputto-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.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2018.2853698