2021/03/14 by Anıl Alan, Andrew Taylor, Alan, Anil +7 · 6 citations
Computer Science · Engineering · #FOS: Electrical engineering #Fault Detection and Control Systems #Formal Methods in Verification #Safety Systems Engineering in Autonomy #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2103.08041
openalex publication_date 2021/03/14 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
To bring complex systems into real world environments in a safe manner, they\nwill have to be robust to uncertainties - both in the environment and the\nsystem. This paper investigates the safety of control systems under input\ndisturbances, wherein the disturbances can capture uncertainties in the system.\nSafety, framed as forward invariance of sets in the state space, is ensured\nwith the framework of control barrier functions (CBFs). Concretely, the\ndefinition of input to state safety (ISSf) is generalized to allow the\nsynthesis of non-conservative, tunable controllers that are provably safe under\nvarying disturbances. This is achieved by formulating the concept of tunable\ninput to state safe control barrier functions (TISSf-CBFs) which guarantee\nsafety for disturbances that vary with state and, therefore, provide less\nconservative means of accommodating uncertainty. The theoretical results are\ndemonstrated with a simple control system with input disturbance and also\napplied to design a safe connected cruise controller for a heavy duty truck.\n