Safe Control of Second-Order Systems with Linear Constraints
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866913735954661376 |
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| author | Alyaseen, Mohammed Atanasov, Nikolay Cortes, Jorge |
| author_facet | Alyaseen, Mohammed Atanasov, Nikolay Cortes, Jorge |
| contents | Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with linear boundaries in the position space, we construct a provably control-invariant subset of this desired safety set. The constructed subset does not sacrifice any positions allowed by the desired safety set, which can be nonconvex. We show how our construction can also meet safety specification on the velocity. We then demonstrate that if the system satisfies standard Euler-Lagrange systems properties then our construction can also handle constraints on the allowable control inputs. We finally show the efficacy of the proposed method in a numerical example of keeping a 2D robot arm safe from collision. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_10953 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Safe Control of Second-Order Systems with Linear Constraints Alyaseen, Mohammed Atanasov, Nikolay Cortes, Jorge Systems and Control Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with linear boundaries in the position space, we construct a provably control-invariant subset of this desired safety set. The constructed subset does not sacrifice any positions allowed by the desired safety set, which can be nonconvex. We show how our construction can also meet safety specification on the velocity. We then demonstrate that if the system satisfies standard Euler-Lagrange systems properties then our construction can also handle constraints on the allowable control inputs. We finally show the efficacy of the proposed method in a numerical example of keeping a 2D robot arm safe from collision. |
| title | Safe Control of Second-Order Systems with Linear Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.10953 |