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Safety-Critical Control With Input Delay in Dynamic Environment

Molnár, Tamás G. and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor (2022) Safety-Critical Control With Input Delay in Dynamic Environment. IEEE Transactions on Control Systems Technology . ISSN 1063-6536. doi:10.1109/tcst.2022.3227451. (In Press)

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Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that operate in dynamically changing environments. This article develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). Importantly, the framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control (ACC) problem and a more complex robotics application on a Segway platform.

Item Type:Article
Related URLs:
URLURL TypeDescription ItemDiscussion Paper
Molnár, Tamás G.0000-0002-9379-7121
Kiss, Adam K.0000-0002-7074-4553
Ames, Aaron D.0000-0003-0848-3177
Orosz, Gábor0000-0002-9000-3736
Additional Information:This research is supported in part by the National Science Foundation (CPS Award #1932091), Aerovironment and Dow (#227027AT), and supported by the NRDI Fund (TKP2020 IES, Grant No. BME-IE-MIFM and TKP2020 NC, Grant No. BME-NC).
Funding AgencyGrant Number
Dow Chemical Company227027AT
National Research, Development and Innovation Fund (NKFIA)BME-IE-MIFM
National Research, Development and Innovation Fund (NKFIA)BME-NC
Record Number:CaltechAUTHORS:20230104-586485300.10
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:118671
Deposited By: Research Services Depository
Deposited On:30 Jan 2023 17:43
Last Modified:30 Jan 2023 17:43

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