Learning for Safety-Critical Control with Control Barrier Functions
Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames
Abstract
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing safe controllers, leading to degradation in the properties provided by the controllers. This paper develops a machine learning framework utilizing Control Barrier Functions (CBFs) to reduce model uncertainty as it impact the safe behavior of a system. This approach iteratively collects data and updates a controller, ultimately achieving safe behavior. We validate this method in simulation and experimentally on a Segway platform.
Topics & Concepts
Controller (irrigation)Control (management)Computer scienceStability (learning theory)Control engineeringControl systemNonlinear systemEngineeringArtificial intelligenceMachine learningBiologyElectrical engineeringQuantum mechanicsAgronomyPhysicsReal-time simulation and control systemsFault Detection and Control Systems