Rectified Control Barrier Functions for High-Order Safety Constraints
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909447442399232 |
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| author | Ong, Pio Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. |
| author_facet | Ong, Pio Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. |
| contents | This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and how these can be overcome by incorporating an activation function into the CBF construction. We then provide a comparative analysis of our approach with related methods, such as CBF backstepping. Our results are presented first for safety constraints with relative degree two, then for mixed-input relative degree constraints, and finally for higher relative degrees. The theoretical developments are illustrated through simple running examples and an aircraft control problem. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_03708 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Rectified Control Barrier Functions for High-Order Safety Constraints Ong, Pio Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. Systems and Control This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and how these can be overcome by incorporating an activation function into the CBF construction. We then provide a comparative analysis of our approach with related methods, such as CBF backstepping. Our results are presented first for safety constraints with relative degree two, then for mixed-input relative degree constraints, and finally for higher relative degrees. The theoretical developments are illustrated through simple running examples and an aircraft control problem. |
| title | Rectified Control Barrier Functions for High-Order Safety Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2412.03708 |