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Generalizing robust control barrier functions from a controller design perspective
Alan, A. Molnar, Tamas G. Ames, Aaron D. Orosz, Gábor
Alan, A.
Molnar, Tamas G.
Ames, Aaron D.
Orosz, Gábor
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2025-01-13
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Article
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Keywords
Control barrier function,Model uncertainty,Robust safety,Safe control,Safety filter
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Citation
A. ALAN, T. G. MOLNAR, A. D. AMES and G. OROSZ, "Generalizing Robust Control Barrier Functions from a Controller Design Perspective," in IEEE Open Journal of Control Systems
Abstract
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. © 2022 IEEE.
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This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Publisher
Institute of Electrical and Electronics Engineers
Journal
IEEE Open Journal of Control Systems
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ISSN
2694085X