状態と入力に依存する安全制約をもつサンプル値システムのためのゼロ次制御バリア関数
Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
微分を必要とせず、連続するサンプリング時刻間の値の差で安全性を評価するゼロ次制御バリア関数を提案し、衝突回避や横転防止の例で有効性を示した。
著者: Xiao Tan, Ersin Das, Aaron D. Ames, Joel W. Burdick
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions and straightforwardly handles safety constraints with high-relative degrees or those that explicitly depend on both system states and inputs. The proposed ZOCBF condition does not require any differentiation operation. Instead, it involves computing the difference of the ZOCBF values at two consecutive sampling instants. We propose three numerical approaches to enforce the ZOCBF condition, tailored to different problem settings and available computational resources. We demonstrate the effectiveness of our approach through a collision avoidance example and a rollover prevention example on uneven terrains.
