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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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Open Journal of Control Systems |
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| Online Access: | https://ieeexplore.ieee.org/document/10839547/ |
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| author | Anil Alan Tamas G. Molnar Aaron D. Ames Gabor Orosz |
| author_facet | Anil Alan Tamas G. Molnar Aaron D. Ames Gabor Orosz |
| author_sort | Anil Alan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-d3aa44de72194249959f26d9d3f06366 |
| institution | Kabale University |
| issn | 2694-085X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Control Systems |
| spelling | doaj-art-d3aa44de72194249959f26d9d3f063662025-02-07T00:02:02ZengIEEEIEEE Open Journal of Control Systems2694-085X2025-01-014546910.1109/OJCSYS.2025.352936410839547Generalizing Robust Control Barrier Functions From a Controller Design PerspectiveAnil Alan0https://orcid.org/0000-0002-9778-8249Tamas G. Molnar1https://orcid.org/0000-0002-9379-7121Aaron D. Ames2https://orcid.org/0000-0003-0848-3177Gabor Orosz3https://orcid.org/0000-0002-9000-3736Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USADepartment of Mechanical Engineering, Wichita State University, Wichita, KS, USADepartment of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USADepartment of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USAWhile 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.https://ieeexplore.ieee.org/document/10839547/Control barrier functionmodel uncertaintyrobust safetysafe controlsafety filter |
| spellingShingle | Anil Alan Tamas G. Molnar Aaron D. Ames Gabor Orosz Generalizing Robust Control Barrier Functions From a Controller Design Perspective IEEE Open Journal of Control Systems Control barrier function model uncertainty robust safety safe control safety filter |
| title | Generalizing Robust Control Barrier Functions From a Controller Design Perspective |
| title_full | Generalizing Robust Control Barrier Functions From a Controller Design Perspective |
| title_fullStr | Generalizing Robust Control Barrier Functions From a Controller Design Perspective |
| title_full_unstemmed | Generalizing Robust Control Barrier Functions From a Controller Design Perspective |
| title_short | Generalizing Robust Control Barrier Functions From a Controller Design Perspective |
| title_sort | generalizing robust control barrier functions from a controller design perspective |
| topic | Control barrier function model uncertainty robust safety safe control safety filter |
| url | https://ieeexplore.ieee.org/document/10839547/ |
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