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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2305.10620 |
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| _version_ | 1866910642626101248 |
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| author | Rabiee, Pedram Hoagg, Jesse B. |
| author_facet | Rabiee, Pedram Hoagg, Jesse B. |
| contents | This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including linear and quadratic programs subject to affine constraints, which are shown to be feasible. The first control method relies on a soft-minimum barrier function that is constructed using a finite-time-horizon prediction of the system trajectories under a known backup control. The main result shows that the control is continuous and satisfies the actuator constraints, and a subset of the safe set is forward invariant under the control. Next, we extend this method to allow from multiple backup controls. This second approach relies on a combined soft-maximum/soft-minimum barrier function, and it has properties similar to the first. We demonstrate these controls on numerical simulations of an inverted pendulum and a nonholonomic ground robot. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2305_10620 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints Rabiee, Pedram Hoagg, Jesse B. Systems and Control This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including linear and quadratic programs subject to affine constraints, which are shown to be feasible. The first control method relies on a soft-minimum barrier function that is constructed using a finite-time-horizon prediction of the system trajectories under a known backup control. The main result shows that the control is continuous and satisfies the actuator constraints, and a subset of the safe set is forward invariant under the control. Next, we extend this method to allow from multiple backup controls. This second approach relies on a combined soft-maximum/soft-minimum barrier function, and it has properties similar to the first. We demonstrate these controls on numerical simulations of an inverted pendulum and a nonholonomic ground robot. |
| title | Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2305.10620 |