Hybrid Control Barrier Functions for Continuous-Time Systems

被引：1

作者：

Marley, Mathias ^{[1
]}

Skjetne, Roger ^{[1
]}

Teel, Andrew R. ^{[2
]}

机构：

[1] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, Dept Marine Technol, N-7491 Trondheim, Norway

[2] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2024年 / 69卷 / 10期

关键词：

Safety; System recovery; Collision avoidance; Vectors; Switches; Task analysis; Robustness; Control barrier functions; hybrid feedback control; obstacle avoidance; safety; uniform global asymptotic stability; QUADRATIC PROGRAMS; DYNAMICAL-SYSTEMS; OBSTACLE AVOIDANCE; SAFETY; SETS; STABILIZATION; CERTIFICATES; INVARIANCE;

D O I：

10.1109/TAC.2024.3374265

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control barrier functions (CBFs) enable constraint satisfaction in controlled dynamical systems, by mapping state constraints into state-dependent input constraints. This article investigates the use of hybrid CBF formulations for constraint satisfaction in continuous-time systems. Augmenting CBFs with logic variables enables solving control problems that are not solvable by continuous, or even discontinuous, control. Examples include robust deadlock resolution for vehicles moving in the presence of bounded obstacles, and robust obstacle avoidance for nonholonomic vehicles required to maintain a nonzero forward speed. A recursive procedure for constructing hybrid high-order CBFs is proposed, thereby extending hybrid CBFs to systems with high-order safety constraints. The theoretical results are illustrated by several examples.

引用

页码：6605 / 6619

页数：15

共 50 条

[1] Compositional construction of control barrier functions for continuous-time stochastic hybrid systems
Nejati, Ameneh
Soudjani, Sadegh
Zamani, Majid
AUTOMATICA, 2022, 145
[2] Preview Control Barrier Functions for Linear Continuous-Time Systems with Previewable Disturbances
Pati, Tarun
Hwang, Seunghoon
Yong, Sze Zheng
2023 EUROPEAN CONTROL CONFERENCE, ECC, 2023,
[3] Compositional Construction of Control Barrier Functions for Networks of Continuous-Time Stochastic Systems
Nejati, Ameneh
Soudjani, Sadegh
Zamani, Majid
IFAC PAPERSONLINE, 2020, 53 (02): : 1856 - 1861
[4] HYBRID ADAPTIVE-CONTROL OF CONTINUOUS-TIME SYSTEMS
ELLIOTT, H
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1982, 27 (02) : 419 - 426
[5] Continuous-time Signal Temporal Logic Planning with Control Barrier Functions
Yang, Guang
Belta, Calin
Tron, Roberto
2020 AMERICAN CONTROL CONFERENCE (ACC), 2020, : 4612 - 4618
[6] Hybrid adaptive fuzzy control of nonlinear continuous-time systems
Xie, Xuejun
Zhang, Dalei
Xitong Gongcheng Lilun yu Shijian/System Engineering Theory and Practice, 2000, 20 (01): : 25 - 29
[7] Control of hybrid systems with independent continuous-time and discrete-time objectives
De la Sen, M.
Soto, J. C.
Gallego, A.
Malaina, J. L.
2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6, 2006, : 420 - +
[8] Control of hybrid systems with independent continuous-time and discrete-time objectives
delaSen, M
PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1997, : 2795 - 2799
[9] Sparse control for continuous-time systems
Nagahara, Masaaki
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2023, 33 (01) : 6 - 22
[10] ON THE COMPUTATION OF SET-INDUCED CONTROL LYAPUNOV FUNCTIONS FOR CONTINUOUS-TIME SYSTEMS
Fiacchini, Mirko
Prieur, Christophe
Tarbouriech, Sophie
SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2015, 53 (03) : 1305 - 1327

← 1 2 3 4 5 →