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Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

Taylor, Andrew J. and Ong, Pio and Cortés, Jorge and Ames, Aaron D. (2021) Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. IEEE Control Systems Letters, 5 (3). pp. 749-754. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20200706-084348576

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Abstract

The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide an example showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input-to-State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lcsys.2020.3005101DOIArticle
https://arxiv.org/abs/2003.06963arXivDiscussion Paper
ORCID:
AuthorORCID
Taylor, Andrew J.0000-0002-5990-590X
Ong, Pio0000-0002-9665-1320
Cortés, Jorge0000-0001-9582-5184
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. Manuscript received March 15, 2020; revised May 25, 2020; accepted June 15, 2020. Date of publication June 25, 2020; date of current version July 14, 2020. This work was supported in part by DARPA under Award HR00111890035, and in part by NSF under Award ECCS-1917177.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)HR00111890035
NSFECCS-1917177
Subject Keywords:Discrete event systems; Sampled-data control; Lyapunov methods
Issue or Number:3
Record Number:CaltechAUTHORS:20200706-084348576
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200706-084348576
Official Citation:A. J. Taylor, P. Ong, J. Cortés and A. D. Ames, "Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions," in IEEE Control Systems Letters, vol. 5, no. 3, pp. 749-754, July 2021, doi: 10.1109/LCSYS.2020.3005101
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104220
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Jul 2020 15:53
Last Modified:03 Aug 2020 21:10

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