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Rectified control barrier functions for high-order safety constraints
Ong, Pio Cohen, Max H. Molnar, Tamas G. Ames, Aaron D.
Ong, Pio
Cohen, Max H.
Molnar, Tamas G.
Ames, Aaron D.
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2024-12-16
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Article
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Constrained control,Lyapunov methods,Nonlinear systems,Safety-critical control
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Citation
P. Ong, M. H. Cohen, T. G. Molnar and A. D. Ames, "Rectified Control Barrier Functions for High-Order Safety Constraints," in IEEE Control Systems Letters, vol. 8, pp. 2949-2954, 2024, doi: 10.1109/LCSYS.2024.3518393.
Abstract
This letter presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and how these can be overcome by incorporating an activation function into the CBF construction. We then provide a comparative analysis of our approach with related methods, such as CBF backstepping. Our results are presented first for safety constraints with relative degree two, then for mixed-input relative degree constraints, and finally for higher relative degrees. The theoretical developments are illustrated through simple running examples and an aircraft control problem. © 2017 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/).
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Institute of Electrical and Electronics Engineers Inc.
Journal
IEEE Control Systems Letters
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24751456