2018/03/31 by Shishir Kolathaya, Aaron D. Ames · 1 citation
Computer Science · Engineering · Mathematics · #Advanced Control Systems Optimization #Algorithm #Artificial intelligence #Bounded function #Closeness #Computer science #Context (archaeology) #Control (management) #Control theory (sociology) #Fault Detection and Control Systems #Formal Methods in Verification #Lyapunov function #Mathematical analysis #Mathematics #Nonlinear system #Physics #Set (abstract data type) #Stability (learning theory) #State (computer science) #math.OC
paper · pdf · doi:10.1109/lcsys.2018.2853698
published as IEEE Control Systems Letters 3.1 (2019), pp. 108-113. ISSN: 2475-1456 · 7 pages, 7 figures; Final submitted version
openalex publication_date 2018/07/06 · arxiv created 2018/08/11 · arxiv updated 2018/08/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/05
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward invariance of a set, input-to-state safety conditions are specified in terms of forward invariance of a slightly larger set. In this context, invariance of the larger set implies that the states stay either inside or very close to the smaller safe set; and this closeness is bounded by the magnitude of the disturbances. The main contribution of the letter is the methodology used for obtaining a valid ISSf-CBF, given a control barrier function. The associated universal control law will also be provided. Towards the end, we will study unified quadratic programs that combine control Lyapunov functions and ISSf-CBFs in order to obtain a single control law that ensures both safety and stability in systems with input disturbances.