Learning Hybrid Control Barrier Functions from DataShow others and affiliations
2020 (English)In: Proceedings of the 2020 Conference on Robot Learning, CoRL 2020, ML Research Press , 2020, p. 1351-1370Conference paper, Published paper (Refereed)
Abstract [en]
Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data. In particular, we assume a setting in which the system dynamics are known and in which data exhibiting safe system behavior is available. We propose hybrid control barrier functions for hybrid systems as a means to synthesize safe control inputs. Based on this notion, we present an optimization-based framework to learn such hybrid control barrier functions from data. Importantly, we identify sufficient conditions on the data such that feasibility of the optimization problem ensures correctness of the learned hybrid control barrier functions, and hence the safety of the system. We illustrate our findings in two simulations studies, including a compass gait walker.
Place, publisher, year, edition, pages
ML Research Press , 2020. p. 1351-1370
Keywords [en]
Control Barrier Functions, Hybrid Systems, Imitation Learning
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-339682Scopus ID: 2-s2.0-85175866748OAI: oai:DiVA.org:kth-339682DiVA, id: diva2:1812473
Conference
4th Conference on Robot Learning, CoRL 2020, Virtual, Online, United States of America, Nov 16 2020 - Nov 18 2020
Note
QC 20231116
2023-11-162023-11-162023-11-16Bibliographically approved