TY - GEN
T1 - Switched control barrier function with applications to vehicle safety control
AU - Huang, Yiwen
AU - Chen, Yan
N1 - Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - For safety-critical systems, the safety constraints are required to be satisfied through control design. To describe and apply system safety constraints, controlled invariant set (CIS) and control barrier function (CBF) are effective methods. In many applications, safety constraints may change dynamicly in operation environment and thus are not always continuous. However, such discontinuity and switching problems of CIS and CBF were well-addressed in the literature. In this paper, to tackle the issues, novel definitions of switched CIS (SCIS) and switched CBF (SCBF) are proposed. To address the undifferentiability issue in SCBF, a novel relaxation function that connects different SCISs is proposed. Sufficient conditions for selecting the relaxation function are proposed with a rigorous proof. In the application of vehicle safety control for an obstacle avoidance problem, a relaxation function is selected and demonstrated in the safety control design. To evaluate the effectiveness of the proposed definitions and control design, simulation results are presented and discussed.
AB - For safety-critical systems, the safety constraints are required to be satisfied through control design. To describe and apply system safety constraints, controlled invariant set (CIS) and control barrier function (CBF) are effective methods. In many applications, safety constraints may change dynamicly in operation environment and thus are not always continuous. However, such discontinuity and switching problems of CIS and CBF were well-addressed in the literature. In this paper, to tackle the issues, novel definitions of switched CIS (SCIS) and switched CBF (SCBF) are proposed. To address the undifferentiability issue in SCBF, a novel relaxation function that connects different SCISs is proposed. Sufficient conditions for selecting the relaxation function are proposed with a rigorous proof. In the application of vehicle safety control for an obstacle avoidance problem, a relaxation function is selected and demonstrated in the safety control design. To evaluate the effectiveness of the proposed definitions and control design, simulation results are presented and discussed.
KW - Relaxation function
KW - Switched control barrier function
KW - Switched controlled invariant set
KW - Vehicle safety control
UR - http://www.scopus.com/inward/record.url?scp=85101474419&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2020-3293
DO - 10.1115/DSCC2020-3293
M3 - Conference contribution
AN - SCOPUS:85101474419
T3 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
BT - Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions
PB - American Society of Mechanical Engineers
T2 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Y2 - 5 October 2020 through 7 October 2020
ER -