Tube-based Control Barrier Function with Integral Quadratic Constraints for Unknown Input Delay
- Authors
- Quan, Y.S.; Kim, J.S.; Lee, S.; Chung, C.C.
- Issue Date
- 1-Jan-2023
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Delays; Integral equations; Optimization; Quadratic programming; robotics; robust control; Safety; safety critical; Uncertain systems; Uncertain systems; Uncertainty
- Citation
- IEEE Control Systems Letters, v.7, pp 1 - 1
- Pages
- 1
- Journal Title
- IEEE Control Systems Letters
- Volume
- 7
- Start Page
- 1
- End Page
- 1
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/31263
- DOI
- 10.1109/LCSYS.2023.3278688
- ISSN
- 2475-1456
2475-1456
- Abstract
- This paper proposes a Control Barrier Function (CBF)-based controller design to achieve safety for systems subjecting to unknown input delay and additive disturbance. Integral quadratic constraints characterizing the input-output behavior of the unmodeled dynamics caused by the unknown input delay are used to generate a bound of the error between the nominal model and the true uncertain system. The bound is incorporated into a tube-based CBF formulation to ensure robust system safety. The proposed method guarantees that the constraints are input affine, so the safe controller can be implemented by solving a quadratic programming problem in real-time. A simple example demonstrates the effectiveness of the tube-based CBF approach. IEEE
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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