Shih-Chi Liao

Shih-Chi Liao

Ph.D. student at University of Michigan, Ann Arbor.

Robust Control Barrier Functions with Sector-bounded Uncertainties

Authors: Jyot Buch, Shih-Chi Liao, Peter Seiler

Published in IEEE Control Systems Letters, 2021

[Paper on IEEE] / [Paper on arXiv] / [GitHub] / [Slides] / [Poster]

Abstract

This letter focuses on safety-critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach to enforce safety requirements in the presence of these uncertainties. The primary objective is to minimally alter the given baseline control command to guarantee safety in the presence of modeled uncertainty. The resulting min-norm optimization problem can be recast as a Second-Order Cone Program (SOCP) to enable online implementation. Properties of this controller are studied, and a numerical example is provided to illustrate the effectiveness of this approach.

RCBF_ImageSummary

@ARTICLE{9656566,
  author={Buch, Jyot and Liao, Shih-Chi and Seiler, Peter},
  journal={IEEE Control Systems Letters}, 
  title={Robust Control Barrier Functions With Sector-Bounded Uncertainties}, 
  year={2022},
  volume={6},
  number={},
  pages={1994-1999},
  doi={10.1109/LCSYS.2021.3136653}}