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Control Barrier Functions for Sampled-Data Systems with Input Delays

Singletary, Andrew and Chen, Yuxiao and Ames, Aaron D. (2020) Control Barrier Functions for Sampled-Data Systems with Input Delays. In: 2020 59th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 804-809. ISBN 9781728174471.

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This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but whose control actions are computed in discrete time-steps. While this model formulation is less commonly used than its continuous counterpart, it more accurately models the reality of most control systems in practice, making the safety guarantees more impactful. In this context, we prove robust set invariance with respect to zero-order hold controllers as well as state uncertainty, without the need to explicitly compute any control invariant sets. It is then shown that this formulation can be exploited to address input delays in this system, with the result being CBF constraints that are affine in the input. The results are demonstrated in a high-fidelity simulation of an unstable Segway robotic system in real-time.

Item Type:Book Section
Related URLs:
URLURL TypeDescription Paper
Singletary, Andrew0000-0001-6635-4256
Chen, Yuxiao0000-0001-5276-7156
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE.
Record Number:CaltechAUTHORS:20200707-105249603
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Official Citation:A. Singletary, Y. Chen and A. D. Ames, "Control Barrier Functions for Sampled-Data Systems with Input Delays," 2020 59th IEEE Conference on Decision and Control (CDC), Jeju Island, Korea (South), 2020, pp. 804-809, doi: 10.1109/CDC42340.2020.9304281
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104246
Deposited By: Tony Diaz
Deposited On:07 Jul 2020 17:59
Last Modified:16 Nov 2021 18:29

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