TY - GEN
T1 - Tractable Compositions of Discrete-Time Control Barrier Functions with Application to Driving Safety Control
AU - Khajenejad, Mohammad
AU - Cavorsi, Matthew
AU - Niu, Ruochen
AU - Shen, Qiang
AU - Yong, Sze Zheng
N1 - Funding Information:
M. Khajenejad, R. Niu and S.Z. Yong are with the School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA; M. Cavorsi is with the School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA; Q. Shen is with the School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, P.R. China (email: {mkhajene,rniu6,szyong}@asu.edu, mcavorsi @g.harvard.edu, qiangshen@sjtu.edu.cn). This work is supported in part by NSF grants CMMI-1925110 and CNS-1943545. ∗ Equal contribution from these authors.
Publisher Copyright:
© 2021 EUCA.
PY - 2021
Y1 - 2021
N2 - This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. In particular, we propose nonlinear discrete-time control barrier functions for control affine systems with an additional structure that lead to controlled invariance conditions that are affine in the control input, resulting in a tractable formulation that enables us to handle the safety optimal control problem for a broader range of applications with more complicated safety conditions than existing approaches. Moreover, we develop alternative mixed-integer formulations for basic and secondary Boolean compositions of multiple control barrier functions and further provide mixed-integer constraints for piecewise control barrier functions. Finally, we apply these proposed tools to driving safety problems of lane keeping and obstacle avoidance, which are shown to be effective in simulation.
AB - This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. In particular, we propose nonlinear discrete-time control barrier functions for control affine systems with an additional structure that lead to controlled invariance conditions that are affine in the control input, resulting in a tractable formulation that enables us to handle the safety optimal control problem for a broader range of applications with more complicated safety conditions than existing approaches. Moreover, we develop alternative mixed-integer formulations for basic and secondary Boolean compositions of multiple control barrier functions and further provide mixed-integer constraints for piecewise control barrier functions. Finally, we apply these proposed tools to driving safety problems of lane keeping and obstacle avoidance, which are shown to be effective in simulation.
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U2 - 10.23919/ECC54610.2021.9655012
DO - 10.23919/ECC54610.2021.9655012
M3 - Conference contribution
AN - SCOPUS:85124900448
T3 - 2021 European Control Conference, ECC 2021
SP - 1303
EP - 1309
BT - 2021 European Control Conference, ECC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 European Control Conference, ECC 2021
Y2 - 29 June 2021 through 2 July 2021
ER -