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Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions

Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Orosz, Gábor and Ames, Aaron D. (2021) Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions. . (Unpublished)

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To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigates the safety of control systems under input disturbances, wherein the disturbances can capture uncertainties in the system. Safety, framed as forward invariance of sets in the state space, is ensured with the framework of control barrier functions (CBFs). Concretely, the definition of input to state safety (ISSf) is generalized to allow the synthesis of non-conservative, tunable controllers that are provably safe under varying disturbances. This is achieved by formulating the concept of tunable input to state safe control barrier functions (TISSf-CBFs) which guarantee safety for disturbances that vary with state and, therefore, provide less conservative means of accommodating uncertainty. The theoretical results are demonstrated with a simple control system with input disturbance and also applied to design a safe connected cruise controller for a heavy duty truck.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Taylor, Andrew J.0000-0002-5990-590X
He, Chaozhe R.0000-0002-0299-8412
Orosz, Gábor0000-0002-9000-3736
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research is supported in part by the National Science Foundation, CPS Award #1932091.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20210331-070249507
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:108587
Deposited By: Tony Diaz
Deposited On:31 Mar 2021 15:01
Last Modified:31 Mar 2021 15:01

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