TY - GEN
T1 - Robustness of Modified Control Barrier Functions subject to External Disturbances
AU - Shen, Jiajun
AU - Han, Zhen
AU - Wang, Wei
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper focuses on the robustness of Control Barrier Functions (CBFs). The existing results, which combine the Control Lyapunov Functions (CLFs) and CBFs by Quadratic Programs (QP), can effectively mediate the potential conflict between control objectives and safety constraints. The system security can be guaranteed by the forward invariant safe set. However, the robustness of existing CBFs is too weak, while minor unknown disturbances can break the forward invariant property. To solve such a problem, Modified Control Barrier Functions (MCBFs) are proposed in this paper, which lead the priority of control objectives and safety constraints to be dynamically adjusted by the safety degree. The CLFs and MCBFs are combined in the QP-based controllers, to achieve the control objectives in the relative safe region, and to resist arbitrary bounded external disturbances at boundary of the safe set. The simulation results are given to demonstrate the effectiveness of the proposed control scheme.
AB - This paper focuses on the robustness of Control Barrier Functions (CBFs). The existing results, which combine the Control Lyapunov Functions (CLFs) and CBFs by Quadratic Programs (QP), can effectively mediate the potential conflict between control objectives and safety constraints. The system security can be guaranteed by the forward invariant safe set. However, the robustness of existing CBFs is too weak, while minor unknown disturbances can break the forward invariant property. To solve such a problem, Modified Control Barrier Functions (MCBFs) are proposed in this paper, which lead the priority of control objectives and safety constraints to be dynamically adjusted by the safety degree. The CLFs and MCBFs are combined in the QP-based controllers, to achieve the control objectives in the relative safe region, and to resist arbitrary bounded external disturbances at boundary of the safe set. The simulation results are given to demonstrate the effectiveness of the proposed control scheme.
KW - Control barrier function
KW - external disturbances
KW - forward invariant set
UR - https://www.scopus.com/pages/publications/85173626156
U2 - 10.1109/ICIEA58696.2023.10241419
DO - 10.1109/ICIEA58696.2023.10241419
M3 - 会议稿件
AN - SCOPUS:85173626156
T3 - Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023
SP - 34
EP - 39
BT - Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023
A2 - Cai, Wenjian
A2 - Yang, Guilin
A2 - Qiu, Jun
A2 - Gao, Tingting
A2 - Jiang, Lijun
A2 - Zheng, Tianjiang
A2 - Wang, Xinli
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023
Y2 - 18 August 2023 through 22 August 2023
ER -