Robust Control Barrier Functions with Sector-Bounded Uncertainties

TL;DR

This paper introduces a robust control barrier function method that ensures safety in control systems with sector-bounded uncertainties, using a computationally efficient SOCP formulation for real-time application.

Contribution

A novel robust control barrier function approach that handles sector-bounded uncertainties and guarantees safety with minimal control modification, formulated as an SOCP.

Findings

Effective safety enforcement in uncertain systems

Real-time implementable SOCP formulation

Numerical example demonstrating approach efficacy

Abstract

This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach to enforce safety requirements in the presence of these uncertainties. The primary objective is to minimally alter the given baseline control command to guarantee safety in the presence of modeled uncertainty. The resulting min-norm optimization problem can be recast as a Second-Order Cone Program (SOCP) to enable online implementation. Properties of this controller are studied and a numerical example is provided to illustrate the effectiveness of this approach.