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arXiv · 2003.06963

Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

Andrew J. Taylor·Pio Ong·Jorge Cortes·Aaron D. Ames
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Abstract

The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide a counterexample showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input to State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded. We illustrate our results in simulation.

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Andrew J. Taylor, Pio Ong, Jorge Cortes, Aaron D. Ames. 2020-03-16. Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. https://doi.org/10.1109/lcsys.2020.3005101

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