2020/04/03 by Ugo Rosolia, Aaron D. Ames, Rosolia, Ugo +1 · 2 citations
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #Fault Detection and Control Systems #Formal Methods in Verification #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2004.01761
openalex publication_date 2020/04/03 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
In this paper we present a multi-rate control architecture for safety\ncritical systems. We consider a high level planner and a low level controller\nwhich operate at different frequencies. This multi-rate behavior is described\nby a piecewise nonlinear model which evolves on a continuous and a discrete\nlevel. First, we present sufficient conditions which guarantee recursive\nconstraint satisfaction for the closed-loop system. Afterwards, we propose a\ncontrol design methodology which leverages Control Barrier Functions (CBFs) for\nlow level control and Model Predictive Control (MPC) policies for high level\nplanning. The control barrier function is designed using the full nonlinear\ndynamical model and the MPC is based on a simplified planning model. When the\nnonlinear system is control affine and the high level planning model is linear,\nthe control actions are computed by solving convex optimization problems at\neach level of the hierarchy. Finally, we show the effectiveness of the proposed\nstrategy on a simulation example, where the low level control action is updated\nat a higher frequency than the high level command.\n