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Control Barrier Functionals: Safety-critical Control for Time Delay Systems

Kiss, Adam K. and Molnár, Tamás G. and Ames, Aaron D. and Orosz, Gábor (2022) Control Barrier Functionals: Safety-critical Control for Time Delay Systems. . (Unpublished)

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This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced to attain formal safety guarantees, by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Kiss, Adam K.0000-0002-7074-4553
Molnár, Tamás G.0000-0002-9379-7121
Ames, Aaron D.0000-0003-0848-3177
Orosz, Gábor0000-0002-9000-3736
Additional Information:Attribution 4.0 International (CC BY 4.0) The research reported in this paper has been supported by the National Research, Development and Innovation Fund (TKP2020 NC, Grant No. BME-NCS and TKP2021, Project no. BME-NVA-02) under the auspices of the Ministry for Innovation and Technology of Hungary, by the National Science Foundation (CPS Award #1932091), by Aerovironment and by Dow (#227027AT). Author contributions. A. K. Kiss developed the theory and conducted the numerical simulations. T. G. Molnar supported the theory and helped with the writing. A. D. Ames and G. Orosz supervised the project, including the development of the theory, results and writing. Data availability statement. Data sharing not applicable to this article as no datasets were generated or analyzed during the current study. The authors declare no potential conflict of interests.
Funding AgencyGrant Number
National Research, Development and Innovation Fund (NKFIA)TKP2020 NC - BME-NCS
National Research, Development and Innovation Fund (NKFIA)TKP2021 - BME-NVA-02
Ministry for Innovation and Technology (Hungary)UNSPECIFIED
Dow Chemical Company227027AT
Subject Keywords:Control of nonlinear systems, Safety-critical control, Delay systems, Infinite dimensional systems
Record Number:CaltechAUTHORS:20220714-194319224
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115567
Deposited By: George Porter
Deposited On:15 Jul 2022 22:34
Last Modified:15 Jul 2022 22:34

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