Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Safe control of second-order systems with
linear positional constraints
M. Alyaseen, N. Atanasov, J. Cortés
IEEE Control Systems Letters (2025), to appear
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
Skype id:
jorgilliyo