Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions
Abstract
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide a counterexample showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input to State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded. We illustrate our results in simulation.
- Publication:
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arXiv e-prints
- Pub Date:
- March 2020
- DOI:
- 10.48550/arXiv.2003.06963
- arXiv:
- arXiv:2003.06963
- Bibcode:
- 2020arXiv200306963T
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control;
- Mathematics - Optimization and Control
- E-Print:
- 6 pages, 2 figures, submitted to L-CSS + CDC 2020