Generalizing Robust Control Barrier Functions From a Controller Design Perspective
While control barrier functions provide a powerful tool to endow controllers with formal safety guarantees, robust control barrier functions (RCBF) can be used to extend these guarantees for systems with model inaccuracies. This paper presents a generalized RCBF framework that unifies and extends ex...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Open Journal of Control Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10839547/ |
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| Summary: | While control barrier functions provide a powerful tool to endow controllers with formal safety guarantees, robust control barrier functions (RCBF) can be used to extend these guarantees for systems with model inaccuracies. This paper presents a generalized RCBF framework that unifies and extends existing notions of RCBFs for a broad class of model uncertainties. Main results are conditions for robust safety through generalized RCBFs. We apply these generalized principles for more specific design examples: a worst-case type design, an estimation-based design, and a tunable version of the latter. These examples are demonstrated to perform increasingly closer to an oracle design with ideal model information. Theoretical contributions are demonstrated on a practical example of a pendulum with unknown periodic excitation. Using numerical simulations, a comparison among design examples are carried out based on a performance metric depicting the increased likeness to the oracle design. |
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| ISSN: | 2694-085X |