Analytical Construction of CBF-Based Safety Filters for Simultaneous State and Input Constraints (Extended Version)
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866917875892092928 |
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| author | Fisher, Peter A. Annaswamy, Anuradha M. |
| author_facet | Fisher, Peter A. Annaswamy, Anuradha M. |
| contents | We revisit the problem explored in [1] of guaranteeing satisfaction of multiple simultaneous state constraints applied to a single-input, single-output plant consisting of a chain of n integrators subject to input limitations. For this problem setting, we derive an analytic, easy-to-implement safety filter which respects input limitations and ensures forward-invariance of all state constraints simultaneously. Additionally, we provide a straightforward extension to the multi-input, multi-output chained integrator setting, and provide an analytic safety filter guaranteeing satisfaction of arbitrarily many simultaneous hyperplane constraints on the output vector. Whereas the approach in [1] obtains maximal invariant sets, our approach trades off some degree of conservatism in exchange for a recursive safety filter which is analytic for any arbitrary n >= 1. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_19352 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Analytical Construction of CBF-Based Safety Filters for Simultaneous State and Input Constraints (Extended Version) Fisher, Peter A. Annaswamy, Anuradha M. Systems and Control We revisit the problem explored in [1] of guaranteeing satisfaction of multiple simultaneous state constraints applied to a single-input, single-output plant consisting of a chain of n integrators subject to input limitations. For this problem setting, we derive an analytic, easy-to-implement safety filter which respects input limitations and ensures forward-invariance of all state constraints simultaneously. Additionally, we provide a straightforward extension to the multi-input, multi-output chained integrator setting, and provide an analytic safety filter guaranteeing satisfaction of arbitrarily many simultaneous hyperplane constraints on the output vector. Whereas the approach in [1] obtains maximal invariant sets, our approach trades off some degree of conservatism in exchange for a recursive safety filter which is analytic for any arbitrary n >= 1. |
| title | Analytical Construction of CBF-Based Safety Filters for Simultaneous State and Input Constraints (Extended Version) |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.19352 |