Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

Autor:	Taylor, Andrew J., Ong, Pio, Cortes, Jorge, Ames, Aaron D.
Rok vydání:	2020
Předmět:	Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/LCSYS.2020.3005101
Popis:	The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide a counterexample showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input to State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded. We illustrate our results in simulation. Comment: 6 pages, 2 figures, submitted to L-CSS + CDC 2020
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2003.06963 Zobrazit plný text záznamu View this record from Arxiv