Control Barrier Functions With Unmodeled Dynamics Using Integral Quadratic Constraints
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2021
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| _version_ | 1866908475730165760 |
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| author | Seiler, Peter Jankovic, Mrdjan Hellstrom, Erik |
| author_facet | Seiler, Peter Jankovic, Mrdjan Hellstrom, Erik |
| contents | This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified, low-order models are often used in the design of the controller. Parasitic, unmodeled dynamics (e.g. actuator dynamics, time delays, etc) can lead to safety violations. The proposed method bounds the input-output behavior of these unmodeled dynamics in the time-domain using an alpha-IQC. The alpha-IQC is then incorporated into the CBF constraint to ensure safety. The approach is demonstrated with a simple example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2108_10491 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Control Barrier Functions With Unmodeled Dynamics Using Integral Quadratic Constraints Seiler, Peter Jankovic, Mrdjan Hellstrom, Erik Systems and Control This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified, low-order models are often used in the design of the controller. Parasitic, unmodeled dynamics (e.g. actuator dynamics, time delays, etc) can lead to safety violations. The proposed method bounds the input-output behavior of these unmodeled dynamics in the time-domain using an alpha-IQC. The alpha-IQC is then incorporated into the CBF constraint to ensure safety. The approach is demonstrated with a simple example. |
| title | Control Barrier Functions With Unmodeled Dynamics Using Integral Quadratic Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2108.10491 |