Control Barrier Function Meets Interval Analysis: Safety-Critical Control with Measurement and Actuation Uncertainties
- Resource Type
- Conference
- Authors
- Zhang, Yuhao; Walters, Sequoyah; Xu, Xiangru
- Source
- 2022 American Control Conference (ACC) Control Conference (ACC), 2022 American. :3814-3819 Jun, 2022
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Sufficient conditions
Uncertainty
Measurement uncertainty
Helicopters
Sampled data systems
Control systems
Safety
- Language
- ISSN
- 2378-5861
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data control barrier function (CBF) condition is proposed which ensures the forward invariance of a safe set for sampled-data systems. ℝeachable set overapproximation and Lasserre’s hierarchy of polynomial optimization are used for finding a margin term in the sampled-data CBF condition. Sufficient conditions for a safe controller in the presence of measurement and actuation uncertainties are proposed. The effectiveness of the proposed method is illustrated by a numerical example and an experimental example that implements the proposed controller on the Crazyflie quadcopter in real-time.