Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Safe control of second-order systems with
linear constraints
M. Alyaseen, N. Atanasov, J. Cortés
IEEE Control Systems Letters, submitted
Abstract
Control barrier functions (CBFs) offer a powerful tool for enforcing
safety specifications in control synthesis. This paper deals with
the problem of constructing valid CBFs. Given a second-order system
and any desired safety set with linear boundaries in the position
space, we construct a provably control-invariant subset of this
desired safety set. The constructed subset does not sacrifice any
positions allowed by the desired safety set, which can be nonconvex.
We show how our construction can also meet safety specification on
the velocity. We then demonstrate that if the system satisfies
standard Euler-Lagrange systems properties then our construction can
also handle constraints on the allowable control inputs. We finally
show the efficacy of the proposed method in a numerical example of
keeping a 2D robot arm safe from collision.
pdf
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo