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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| Published in | IEEE control systems letters Vol. 3; no. 1; pp. 108 - 113 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.01.2019
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| Subjects | |
| Online Access | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Kolathaya, Shishir Ames, Aaron D. |
| Author_xml | – sequence: 1 givenname: Shishir surname: Kolathaya fullname: Kolathaya, Shishir email: shishirk@iisc.ac.in organization: Robert Bosch Center for Cyber Phys. Syst., Indian Inst. of Sci., Bangalore, India – sequence: 2 givenname: Aaron D. surname: Ames fullname: Ames, Aaron D. email: ames@caltech.edu organization: Dept. of Mech. & Civil Eng., California Inst. of Technol., Pasadena, CA, USA |
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| SubjectTerms | autonomous systems barrier functions input-to-state safety Real-time systems Robots Safety Safety critical control Sensors Stability criteria Uncertainty |
| Title | Input-to-State Safety With Control Barrier Functions |
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