Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints

Autor:	Tan, Xiao, Das, Ersin, Ames, Aaron D., Burdick, Joel W.
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions and straightforwardly handles safety constraints with high-relative degrees or those that explicitly depend on both system states and inputs. The proposed ZOCBF condition does not require any differentiation operation. Instead, it involves computing the difference of the ZOCBF values at two consecutive sampling instants. We propose three numerical approaches to enforce the ZOCBF condition, tailored to different problem settings and available computational resources. We demonstrate the effectiveness of our approach through a collision avoidance example and a rollover prevention example on uneven terrains. Comment: Submitted to ACC 2025
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2411.17079 Zobrazit plný text záznamu View this record from Arxiv