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Safety-Critical Fixed-Time Formation control of Quadrotor UAVs with Disturbance Based on Robust control barrier functions

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DRONES 2024年第11期8卷 618-618页

作者： Song, Zilong Huang, Haocai Donghai Lab Zhoushan 316021 Peoples R China Zhejiang Univ Ocean Coll Hangzhou 310058 Peoples R China Qingdao Marine Sci & Technol Ctr Lab Marine Geol Qingdao 266061 Peoples R China Zhejiang Univ Hainan Inst Sanya 572025 Peoples R China

This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader's position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a disturbance observer that combines fixed-time control theory and sliding mode control is designed to estimate the external disturbance. Based on these techniques, we design a nominal control law to drive UAVs to track the desired formation in a fixed time. Regarding obstacle avoidance, we first construct safety constraints using control barrier functions (CBFs). Then, obstacle avoidance can be achieved by solving an optimization problem with these safety constraints, thus minimally affecting tracking performance. The main contributions of this process are twofold. First, an exponential CBF is provided to deal with the UAV model with a high relative degree. Moreover, a robust exponential CBF is designed for UAVs with disturbance, which provides robust safety constraints to ensure obstacle avoidance despite disturbance. Finally, simulation results show the validity of the proposed method.

关键词： formation control fixed-time control control barrier functions safety-critical control obstacle avoidance quadrotor UAVs

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Cooperative target search and tracking for multi-UAVs based on control barrier functions

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2023年第13期45卷 2582-2589页

作者： Wang, Weizhen Chen, Xin Li, Li Zhang, Min Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing Peoples R China Yanshan Univ Sch Elect Engn Qinhuangdao Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing 210016 Peoples R China

In this paper, a multiple unmanned aerial vehicles (multi-UAVs) cooperative target search and tracking strategy with collision avoidance and flocking constraints are presented applying the control barrier functions (CBFs). First, the constraints of collision avoidance and flocking maintenance are designed based on CBF. Second, the information map and Lyapunov guidance vector field (LGVF) are used to design the corresponding nominal controllers in search mode and tracking mode, respectively. To minimize the difference between the actual controller and the nominal controller, the controller based on quadratic programming (QP) is proposed to achieve the target search and tracking on the premise of security. Finally, the simulation results verify the effectiveness of the proposed method.

关键词： Multi-UAVs target search and tracking control barrier functions information map Lyapunov guidance vector field

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Human-like constraint-adaptive model predictive control with risk-tunable control barrier functions for autonomous ships

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OCEAN ENGINEERING 2024年 308卷

作者： Xue, Han Lai, Yi-Horng Sun, Kaibiao Jimei Univ Coll Nav Xiamen 361021 Fujian Peoples R China Xiamen Univ Sch Mech & Elect Engn & Automat Tan Kah Kee Coll Xiamen 361000 Fujian Peoples R China Dalian Univ Technol Sch Control Sci & Engn Dalian 116000 Liaoning Peoples R China

In order to creates a comprehensive control algorithm through incorporating human driving characteristics and decision-making processes into control systems, a human-like constraint-adaptive model predictive control (MPC) with risk-tunable control barrier functions (CBF) for autonomous ships is proposed, aiming to bridge the gap between control efficiency, safety, stability and energy saving. To the best of our knowledge, it is the first time to design constraint relaxation in MPC-CBF. A novel framework for designing controllers is introduced. Learning from human drivers, precise path tracking with high-frequency refreshing control rates and modification operations is not required once the departure and destination points are clearly identified. Instead, navigating within the navigational region and obeying safety constraints are focused on. Adjusting risk boundaries based on specific requirements to meet security constraints is allowed. To the best of our knowledge, this is also the first time to adjust the attenuation coefficient in risk-tunable CBF for ship navigating near shoals, glaciers, underwater fishingnets, and reefs, where the variable area of the restricted navigational waterway is influenced by tide, etc. When the attenuation coefficient is large, the under keel clearance is also large and vice versa. Three different scenarios were tested for different decisions in various stages and regions. The results demonstrate that in comparison to traditional MPC, this approach guarantees safety and reduces computational time costs.

关键词： Model predictive control control barrier functions Human-like behavior Energy sustainability Autonomous ships

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Gaussian control barrier functions: Non-Parametric Paradigm to Safety

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IEEE ACCESS 2022年 10卷 99823-99836页

作者： Khan, Mouhyemen A. Ibuki, Tatsuya Chatterjee, Abhijit Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA Meiji Univ Sch Sci & Technol Dept Elect & Bioinformat Kawasaki Kanagawa 2148571 Japan

Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes (GPs). A dynamical system is defined to be safe if a subset of its states remains within the prescribed set, also called the safe set. CBFs achieve safety by designing a candidate function a priori. However, designing such a function can be challenging. Consider designing a CBF in a disaster recovery scenario where safe and navigable regions need to be determined. The decision boundary for safety here is unknown and cannot be designed a priori. Moreover, CBFs employ a parametric design approach and cannot handle arbitrary changes to the safe set in practice. In our approach, we work with safety samples to construct the CBF online by assuming a flexible GP prior on these samples, and term our formulation as a Gaussian CBF. GPs have favorable properties such as analytical tractability and robust uncertainty estimation. This allows realizing the posterior with high safety guarantees while also computing associated partial derivatives analytically for safe control. Moreover, Gaussian CBFs can change the safe set arbitrarily based on sampled data, thus allowing non-convex safe sets. We validated experimentally on a quadrotor by demonstrating safe control for 1) arbitrary safe sets, 2) collision avoidance with online safe set synthesis, 3) and juxtaposed Gaussian CBFs with CBFs in the presence of noisy states. The experiment video link is: https://***/HX6uokvCiGk.

关键词： Safety Gaussian processes Uncertainty Noise measurement Hardware Dynamical systems System dynamics Mission critical systems control barrier functions Gaussian processes non-parametric safety-critical control

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Robust control barrier functions for constrained stabilization of nonlinear systems

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AUTOMATICA 2018年 96卷 359-367页

作者： Jankovic, Mrdjan Ford Res & Adv Engn 2101 Village RdMD 2036 RIC Dearborn MI 48121 USA

Quadratic Programming (QP) has been used to combine control Lyapunov and control barrier functions (CLF and CBF) to design controllers for nonlinear systems with constraints. It has been successfully applied to robotic and automotive systems. The approach could be considered an extension of the CLF-based point-wise minimum norm controller. In this paper we modify the original QP problem in a way that guarantees that <(V)over dot> < 0, if the barrier constraint is inactive, as well as local asymptotic stability under the standard (minimal) assumptions on the CLF and CBF. We also remove the assumption that the CBF has uniform relative degree one. The two design parameters of the new QP setup allow us to control how aggressive the resulting control law is when trying to satisfy the two control objectives. The paper presents the controller in a closed form making it unnecessary to solve the QP problem on line and facilitating the analysis. Next, we introduce the concept of Robust-CBF that, when combined with existing ISS-CLFs, produces controllers for constrained nonlinear systems with disturbances. In an example, a nonlinear system is used to illustrate the ease with which the proposed design method handles non convex constraints and disturbances and to illuminate some tradeoffs. (C) 2018 Elsevier. Ltd. All rights reserved.

关键词： Nonlinear control systems control Lyapunov functions control barrier functions Quadratic programming

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Fast, Smooth, and Safe: Implicit control barrier functions Through Reach-Avoid Differential Dynamic Programming

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IEEE control SYSTEMS LETTERS 2023年 7卷 2994-2999页

作者： Kumar, Athindran Hsu, Kai-Chieh Ramadge, Peter J. Fisac, Jaime F. Princeton Univ Dept Elect & Comp Engn Princeton NJ 08540 USA

Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct "least-restrictive" safety filters that result in infrequent, but often extreme, control overrides. In contrast, control barrier function (CBF) methods apply smooth control corrections to guard the system against an often conservative safety boundary. This letter provides an online scheme to construct an implicit CBF through HJ reach-avoid differential dynamic programming in a receding-horizon framework, enabling smooth safety filtering with infinite-time safety guarantees. Simulations with the Dubins car and 5D bicycle dynamics demonstrate the scheme's ability to preserve safety smoothly without the conservativeness of handcrafted CBFs.

关键词： Autonomous systems reach-avoid analysis control barrier functions

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Safety During Transient Response in Direct Current Microgrids Using control barrier functions

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IEEE control SYSTEMS LETTERS 2022年 6卷 337-342页

作者： Kosaraju, K. C. Sivaranjani, S. Gupta, V Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77843 USA

We consider the problem of guaranteeing that the transient voltages and currents stay within prescribed bounds in Direct Current (DC) microgrids, when the controller does not have access to accurate system dynamics due to the load being unknown and/or time-varying. To achieve this, we propose an optimization based controller design using control barrier functions. We show that the proposed controller has a decentralized structure and is robust with respect to the uncertainty in the precise values of the system parameters, such as the load.

关键词： Microgrids Voltage control Transient analysis Safety Optimization Optimized production technology Load modeling Direct current microgrids control barrier functions safety

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Robust Adaptive control barrier functions for Input-Affine Systems: Application to Uncertain Manipulator Safety Constraints

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IEEE control SYSTEMS LETTERS 2024年 8卷 279-284页

作者： Zeng, Danping Jiang, Yiming Wang, Yaonan Zhang, Hui Feng, Yun Hunan Univ Sch Robot Changsha 410082 Peoples R China Hunan Univ Natl Engn Res Ctr Robot Visual Percept & Control T Changsha 410082 Peoples R China Hunan Univ Coll Elect & Informat Engn Changsha 410082 Peoples R China

Most existing control barrier functions-based control strategies for manipulator systems require a perfect knowledge of the model or consider the worst-case uncertainties. To solve this problem, a composite learning-enhanced adaptive optimal control approach is first proposed for manipulator systems, which achieves constraint satisfactions of joint positions and velocities in the presence of model uncertainties, and leveraging historical data online reduces uncertainties in estimated parameters. Technically, to ensure constraint satisfactions, a series of zeroing control barrier functions are designed, based on which the conditions that guarantee the forward invariance of the constraint-admissible set are derived. Then, a data-driven approach is utilized to reduce the conservatism of the robust adaptive control barrier functions by tightening the bounds of the unknown parameters. A manipulator system illustrates the effectiveness of the proposed method.

关键词： control barrier functions manipulator systems robust adaptive control adaptive optimal control

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Disturbance Observers for Robust Safety-Critical control With control barrier functions

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IEEE control SYSTEMS LETTERS 2023年 7卷 1123-1128页

作者： Alan, Anil Molnar, Tamas G. Das, Ersin Ames, Aaron D. Orosz, Gabor Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA CALTECH Dept Mech & Civil Engn Pasadena CA 91125 USA

This letter provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate with control barrier functions to attain provably safe dynamic behavior. The observer error bound - which consists of transient and steady-state parts - is quantified, and the system is endowed with robustness against this error via the proposed controller. A connected cruise control problem is used as illustrative example through simulations including real disturbance data.

关键词： Robust safety disturbance observers control barrier functions

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Passivity-Preserving Safety-Critical control Using control barrier functions

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IEEE control SYSTEMS LETTERS 2023年 7卷 1742-1747页

作者： Califano, Federico Univ Twente Robot & Mechatron Grp NL-7522 NH Enschede Netherlands

In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under CBF-based safety-critical control. The results provide an energetic interpretation of safety-critical control schemes, and induce novel passive designs with respect to standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system.

关键词： Passivity control barrier functions energy-aware control

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