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Proxy control barrier functions: Integrating barrier-based and Lyapunov-based safety-critical control design

Proxy control barrier functions: integrating barrier-based and Lyapunov-based safety-critical control design
Authors: Yujie Wang; Xiangru Xu;

Proxy control barrier functions: Integrating barrier-based and Lyapunov-based safety-critical control design

Abstract

This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method employs a modular design procedure, decomposing the original system into a proxy subsystem and a virtual tracking subsystem that are controlled by the control barrier function (CBF)-based and Lyapunov-based controllers, respectively. By integrating these separately designed controllers, the overall system's safety is ensured. Moreover, a new filter-based disturbance observer is utilized to design a PCBF-based safe controller for strict-feedback systems subject to mismatched disturbances. This approach broadens the class of systems to which CBF-based methods can be applied and significantly simplifies CBF construction by requiring only the model of the proxy subsystem. The effectiveness of the proposed method is demonstrated through numerical simulations.

Keywords

strict-feedback system, control barrier function, safety-critical control, Optimization and Control (math.OC), Control/observation systems with incomplete information, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, uncertain system, Systems and Control (eess.SY), Feedback control, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
0
Average
Average
Average
Green