Robust Control Barrier Functions under high relative degree and input constraints for satellite trajectories

Article Automation & Control Systems

High-Order Barrier Functions: Robustness, Safety, and Performance-Critical Control

Xiao Tan et al.

Summary: This article introduces a notion of high-order barrier functions that guarantee set forward invariance by checking their higher order derivatives. A singularity-free control scheme is proposed for controlled dynamical systems, ensuring safety. The article also includes a case study on rigid-body attitude dynamics.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2022)

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Article Automation & Control Systems

A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

Wenceslao Shaw Cortez et al.

Summary: We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g., passivity-based) while still ensuring robustness, for which the construction of conventional ZCBFs is difficult. We also propose a locally Lipschitz continuous control law that handles multiple ZCBFs, while respecting input constraints, which is not currently possible with existing ZCBF methods. We apply the proposed concept for unicycle navigation in an obstacle-rich environment.

IEEE CONTROL SYSTEMS LETTERS (2022)

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Article Automation & Control Systems

Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions

Anil Alan et al.

Summary: This letter investigates the safety of control systems under input disturbances and proposes a framework of control barrier functions to ensure safety. By constructing tunable control barrier functions, less conservative means of accommodating uncertainty are provided.

IEEE CONTROL SYSTEMS LETTERS (2022)

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Article Automation & Control Systems

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Wenceslao Shaw Cortez et al.

Summary: Control barrier functions have been developed to ensure constraint satisfaction and applied successfully to robotic grasping, addressing the challenge of ensuring object manipulation while maintaining grasp stability. Simulation and experimental results validate the effectiveness of the proposed control method for robotic hand application.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2021)

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Proceedings Paper Automation & Control Systems

Learning Robust Hybrid Control Barrier Functions for Uncertain Systems

Alexander Robey et al.

Summary: Robust hybrid control barrier functions are proposed to synthesize control laws for robust safety in safety-critical applications. An optimization problem is formulated for learning these functions from data, with sufficient conditions identified to ensure correctness. The techniques allow for expanding the region of attraction of a compass gait walker subject to model uncertainty.

IFAC PAPERSONLINE (2021)

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Article Automation & Control Systems