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

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