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Non-smooth Control Barrier Functions for Stochastic Dynamical Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. (Digital Futures)ORCID iD: 0000-0001-6046-7460
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Stockholm, Sweden.ORCID iD: 0000-0003-4173-2593
2024 (English)In: 2024 EUROPEAN CONTROL CONFERENCE, ECC 2024, Institute of Electrical and Electronics Engineers (IEEE) , 2024, p. 2200-2205Conference paper, Published paper (Refereed)
Abstract [en]

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time, safety specifications are getting more and more complex, e.g., by composing multiple safety objectives through Boolean operators resulting in non-smooth descriptions of safe sets. Control Barrier Functions (CBFs) have emerged as a control technique to provably guarantee system safety. In most settings, they rely on an assumption of having deterministic dynamics and smooth safe sets. This paper relaxes these two assumptions by extending CBFs to encompass control systems with stochastic dynamics and safe sets defined by non-smooth functions. By explicitly considering the stochastic nature of system dynamics and accommodating complex safety specifications, our method enables the design of safe control strategies in uncertain and complex systems. We provide formal guarantees on the safety of the system by leveraging the theoretical foundations of stochastic CBFs and non-smooth safe sets. Numerical simulations demonstrate the effectiveness of the approach in various scenarios.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. p. 2200-2205
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-362436DOI: 10.23919/ECC64448.2024.10590801ISI: 001290216502009Scopus ID: 2-s2.0-85190581046OAI: oai:DiVA.org:kth-362436DiVA, id: diva2:1953622
Conference
European Control Conference (ECC), JUN 25-28, 2024, Stockholm, SWEDEN
Note

Part of ISBN 979-8-3315-4092-0; 978-3-9071-4410-7

QC 20250422

Available from: 2025-04-22 Created: 2025-04-22 Last updated: 2025-04-25Bibliographically approved

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Vahs, MattiTumova, Jana

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CiteExportLink to record
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Citation style
  • apa
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  • de-DE
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Output format
  • html
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  • asciidoc
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