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Safety-Critical Kinematic Control of Robotic Systems

Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D. (2021) Safety-Critical Kinematic Control of Robotic Systems. IEEE Control Systems Letters . ISSN 2475-1456. (In Press)

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Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending the methodology of control barrier functions (CBFs) to kinematic equations governing robotic systems. We demonstrate a purely kinematic implementation of a velocity-based CBF, and subsequently introduce a formulation that guarantees safety at the level of dynamics. This is achieved through a new form of CBFs that incorporate kinetic energy with the classical forms, thereby minimizing model dependence and conservativeness. The approach is then extended to underactuated systems. This method and the purely kinematic implementation are demonstrated in simulation on two robotic platforms: a 6-DOF robotic manipulator, and a cart-pole system.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Singletary, Andrew0000-0001-6635-4256
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE.
Subject Keywords:Robotics, Robust control, Safety-critical control
Record Number:CaltechAUTHORS:20201109-155517556
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106567
Deposited By: George Porter
Deposited On:10 Nov 2020 15:17
Last Modified:22 Jan 2021 17:34

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