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arXiv · 2304.08685

Sample-and-Hold Safety with Control Barrier Functions

Gilbert Bahati·Pio Ong·Aaron D. Ames
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Abstract

A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of Input-to-State Safety. From this perspective, and leveraging control barrier functions (CBFs), we propose an alternative solution for maintaining safety of sample-and-hold controlled systems without any violation to the original safe set. Our approach centers around modulating the sampled control input in order to guarantee a more robust safety condition. We analyze both the time-triggered and the event-triggered sample-and-hold implementations, including the characterization of sampling frequency requirements and trigger conditions. We demonstrate the effectiveness of our approach in the context of adaptive cruise control through simulations.

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Gilbert Bahati, Pio Ong, Aaron D. Ames. 2023-04-18. Sample-and-Hold Safety with Control Barrier Functions. https://arxiv.org/abs/2304.08685

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