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. doi:10.1109/LCSYS.2018.2853698. https://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 | |||||||||
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| 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. | |||||||||
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| Subject Keywords: | Safety critical control, barrier functions, input-to-state safety, autonomous systems. | |||||||||
| Issue or Number: | 1 | |||||||||
| DOI: | 10.1109/LCSYS.2018.2853698 | |||||||||
| Record Number: | CaltechAUTHORS:20180711-153433279 | |||||||||
| Persistent URL: | https://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: | 15 Nov 2021 20:51 |
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