Safety-Critical Control with Input Delay in Dynamic Environment
Abstract
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). The framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control problem and a more complex robotics application on a Segway platform.
Additional Information
Attribution 4.0 International (CC BY 4.0). This research is supported in part by the National Science Foundation (CPS Award #1932091), Aerovironment and Dow (#227027AT), and supported by the NRDI Fund (TKP2020 IES, Grant No. BME-IE-MIFM and TKP2020 NC, Grant No. BME-NC).Attached Files
Submitted - 2112.08445.pdf
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Additional details
- Eprint ID
- 113588
- Resolver ID
- CaltechAUTHORS:20220224-200840486
- CNS-1932091
- NSF
- AeroVironment
- 227027AT
- Dow Chemical Company
- BME-IE-MIFM
- NRDI Fund
- BME-NC
- NRDI Fund
- Created
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2022-02-28Created from EPrint's datestamp field
- Updated
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2023-06-02Created from EPrint's last_modified field