4.6 Article

Safety-Critical Control With Input Delay in Dynamic Environment

Journal

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 31, Issue 4, Pages 1507-1520

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2022.3227451

Keywords

Delay effects; Delay systems; dynamic environment; predictive control; robust control; safety-critical control

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This article develops a framework for safety-critical control in dynamic environments by introducing the concept of environmental control barrier functions (ECBFs). This framework can guarantee safety even with input delay by considering the evolution of the environment during the delayed response of the system. The proposed method is demonstrated to be effective in a simple adaptive cruise control (ACC) problem and a more complex robotics application on a Segway platform.
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that operate in dynamically changing environments. This article develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). Importantly, the framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control (ACC) problem and a more complex robotics application on a Segway platform.

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