Composing Control Barrier Functions for Complex Safety Specifications
Tamás G. Molnár, Aaron D. Ames
Abstract
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier functions (CBFs). The specifications are formulated as Boolean compositions of state constraints, and we propose an algorithmic way to create a single continuously differentiable CBF that captures these constraints and enables safety-critical control. We describe the properties of the proposed CBF, and we demonstrate its efficacy by numerical simulations.
Topics & Concepts
Differentiable functionComputer scienceControl (management)State (computer science)Theoretical computer scienceDistributed computingMathematical optimizationAlgorithmMathematicsArtificial intelligenceMathematical analysisFormal Methods in VerificationAdvanced Control Systems OptimizationFault Detection and Control Systems