Optimal Control Barrier Functions: Maximizing the Action Space Subject to Control Bounds

Autor:	Beaver, Logan E.
Rok vydání:	2024
Předmět:	Mathematics - Optimization and Control Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads to a safety violation, which transitions the system to an unsafe (and possibly dangerous) trajectory. We resolve the constraint compatibility problem by constructing a control barrier function that maximizes the feasible action space for first and second-order constraints, and we prove that the optimal CBF encodes a dynamical motion primitive. Furthermore, we show that this dynamical motion primitive contains an implicit model for the future trajectory for time-varying components of the system. We validate our optimal CBF in simulation, and compare its behavior with a linear CBF. Comment: 6 pages, 2 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2402.17694 Zobrazit plný text záznamu View this record from Arxiv