A Caltech Library Service

Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions

Garg, Kunal and Cosner, Ryan K. and Rosolia, Ugo and Ames, Aaron D. and Panagou, Dimitra (2022) Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. IEEE Control Systems Letters, 6 . pp. 608-613. ISSN 2475-1456. doi:10.1109/LCSYS.2021.3084322.

[img] PDF - Accepted Version
See Usage Policy.

[img] PDF - Submitted Version
Creative Commons Attribution.


Use this Persistent URL to link to this item:


In this letter, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner generates a reference trajectory that is tracked by a low-level controller under input constraints. We introduce the notion of fixed-time barrier functions which is leveraged by the proposed low-level controller in a quadratic programming framework. Then, we design a model predictive control policy for high-level planning with a bound on the rate of change for the reference trajectory to guarantee that periodic safety is achieved. We demonstrate the effectiveness of the proposed strategy on a simulation example, where the proposed fixed-time stabilizing low-level controller shows successful satisfaction of control objectives, whereas an exponentially stabilizing low-level controller fails.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Garg, Kunal0000-0002-1895-4991
Cosner, Ryan K.0000-0002-4035-1425
Rosolia, Ugo0000-0002-1682-0551
Ames, Aaron D.0000-0003-0848-3177
Panagou, Dimitra0000-0002-4547-167X
Additional Information:© 2021 IEEE. Manuscript received March 4, 2021; revised May 3, 2021; accepted May 21, 2021. Date of publication May 27, 2021; date of current version June 28, 2021. The work of Kunal Garg and Dimitra Panagou was supported in part by the AFOSR under Award FA9550-17-1-0284, and in part by NSF under Award 1942907. The work of Ryan K. Cosner, Ugo Rosolia, and Aaron D. Ames was supported by NSF under Award 1932091. Recommended by Senior Editor L. Menini.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-17-1-0284
Subject Keywords:Lyapunov methods, hierarchical systems, nonlinear systems
Record Number:CaltechAUTHORS:20210511-083656642
Persistent URL:
Official Citation:K. Garg, R. K. Cosner, U. Rosolia, A. D. Ames and D. Panagou, "Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions," in IEEE Control Systems Letters, vol. 6, pp. 608-613, 2022, doi: 10.1109/LCSYS.2021.3084322
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109068
Deposited By: Tony Diaz
Deposited On:11 May 2021 17:08
Last Modified:08 Jul 2021 17:05

Repository Staff Only: item control page