Safe Backstepping with Control Barrier Functions
Abstract
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for safety-critical controller design of nonlinear systems, their application to higher-order systems adds complexity to the controller synthesis process -- it necessitates dynamically extending the CBF to include higher order terms, which consequently modifies the safe set in complex ways. We propose an alternative approach for addressing safety of higher-order systems through Control Barrier Function Backstepping. Drawing inspiration from the method of Lyapunov backstepping, we provide a constructive framework for synthesizing safety-critical controllers and CBFs for higher-order systems from a top-level dynamics safety specification and controller design. Furthermore, we integrate the proposed method with Lyapunov backstepping, allowing the tasks of stability and safety to be expressed individually but achieved jointly. We demonstrate the efficacy of this approach in simulation.
Additional Information
This research is supported in part by Ford, the National Science Foundation (CPS Award #1932091, CMMI Award #1923239), Raytheon Technologies, Aerovironment and Dow (#227027AT).Attached Files
Submitted - 2204.00653.pdf
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Additional details
- Eprint ID
- 115560
- Resolver ID
- CaltechAUTHORS:20220714-194252464
- Ford Motor Company
- NSF
- CNS-1932091
- NSF
- CMMI-1923239
- Raytheon Company
- AeroVironment
- Dow Chemical Company
- 227027AT
- Created
-
2022-07-15Created from EPrint's datestamp field
- Updated
-
2023-06-02Created from EPrint's last_modified field
- Caltech groups
- Center for Autonomous Systems and Technologies (CAST)