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This content will become publicly available on August 1, 2024

Title: Control barrier functionals: Safety‐critical control for time delay systems
Abstarct

This work presents a theoretical framework for the safety‐critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay‐free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced, to attain formal safety guarantees by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays both in the dynamics and in the safety condition, and provides an affine constraint on the control input that yields provable safety. This constraint can be incorporated into optimization problems to synthesize pointwise optimal and provable safe controllers. The applicability of the proposed method is demonstrated by numerical simulation examples.

 
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Award ID(s):
1932091
NSF-PAR ID:
10489333
Author(s) / Creator(s):
; ; ;
Publisher / Repository:
Wiley
Date Published:
Journal Name:
International Journal of Robust and Nonlinear Control
Volume:
33
Issue:
12
ISSN:
1049-8923
Page Range / eLocation ID:
7282 to 7309
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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