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Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies

Rosolia, Ugo and Ames, Aaron D. (2021) Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. IEEE Control Systems Letters, 5 (3). pp. 1007-1012. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20200707-110214475

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Abstract

In this letter we present a multi-rate control architecture for safety critical systems. We consider a high level planner and a low level controller which operate at different frequencies. This multi-rate behavior is described by a piecewise nonlinear model which evolves on a continuous and a discrete level. First, we present sufficient conditions which guarantee recursive constraint satisfaction for the closed-loop system. Afterwards, we propose a control design methodology which leverages Control Barrier Functions (CBFs) for low level control and Model Predictive Control (MPC) policies for high level planning. The control barrier function is designed using the full nonlinear dynamical model and the MPC is based on a simplified planning model. When the nonlinear system is control affine and the high level planning model is linear, the control actions are computed by solving convex optimization problems at each level of the hierarchy. Finally, we show the effectiveness of the proposed strategy on a simulation example, where the low level control action is updated at a higher frequency than the high level command.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LCSYS.2020.3008326DOIArticle
https://arxiv.org/abs/2004.01761arXivDiscussion Paper
ORCID:
AuthorORCID
Rosolia, Ugo0000-0002-1682-0551
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. Manuscript received March 16, 2020; revised June 6, 2020; accepted June 29, 2020. Date of publication July 9, 2020; date of current version July 24, 2020. This work was supported by the National Science Foundation (NSF) under Grant 1932091. Recommended by Senior Editor L. Menini. (Corresponding author: Ugo Rosolia.)
Funders:
Funding AgencyGrant Number
NSFCNS-1932091
Subject Keywords:Predictive control, autonomous systems, Lyapunov methods
Issue or Number:3
Record Number:CaltechAUTHORS:20200707-110214475
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200707-110214475
Official Citation:U. Rosolia and A. D. Ames, "Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies," in IEEE Control Systems Letters, vol. 5, no. 3, pp. 1007-1012, July 2021, doi: 10.1109/LCSYS.2020.3008326
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104247
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:07 Jul 2020 18:48
Last Modified:28 Jul 2020 17:29

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