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Input-to-State Safety with Control Barrier Functions

Kolathaya, Shishir and Ames, Aaron D. (2019) Input-to-State Safety with Control Barrier Functions. IEEE Control Systems Letters, 3 (1). pp. 108-113. ISSN 2475-1456. http://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279

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Abstract

This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward invariance of a set, input-to-state safety (ISSf) conditions are specified in terms of forward invariance of a slightly larger set. In this context, invariance of the larger set implies that the states stay either inside or very close to the smaller safe set; and this closeness is bounded by the magnitude of the disturbances. The main contribution of the letter is the methodology used for obtaining a valid ISSf-CBF, given a control barrier function (CBF). The associated universal control law will also be provided. Towards the end, we will study unified quadratic programs (QPs) that combine control Lyapunov functions (CLFs) and ISSf-CBFs in order to obtain a single control law that ensures both safety and stability in systems with input disturbances.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LCSYS.2018.2853698DOIArticle
http://arxiv.org/abs/1803.03035arXivDiscussion Paper
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 IEEE. Manuscript received March 6, 2018; revised May 26, 2018; accepted June 18, 2018. Date of publication July 6, 2018; date of current version July 23, 2018. This work was supported in part by the DST INSPIRE Faculty Fellowship under Grant IFA17-ENG212, and in part by NSF under Grant 1724464.
Funders:
Funding AgencyGrant Number
Department of Science and Technology (India)IFA17-ENG212
NSFIIS-1724464
Subject Keywords:Safety critical control, barrier functions, input-to-state safety, autonomous systems.
Record Number:CaltechAUTHORS:20180711-153433279
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279
Official Citation:S. Kolathaya and A. D. Ames, "Input-to-State Safety With Control Barrier Functions," in IEEE Control Systems Letters, vol. 3, no. 1, pp. 108-113, Jan. 2019. doi: 10.1109/LCSYS.2018.2853698
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:87777
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:11 Jul 2018 23:02
Last Modified:30 Jul 2018 17:23

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