References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Learning High-Order Control Barrier Functions for Safety-Critical Control with Gaussian Processes
(Submitted on 14 Mar 2024 (v1), last revised 18 Apr 2024 (this version, v2))
Abstract: Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. However, the effectiveness of CBFs is closely tied to the system model. In practice, model uncertainty can compromise safety guarantees and may lead to conservative safety constraints, or conversely, allow the system to operate in unsafe regions. In this paper, we use Gaussian processes to mitigate the adverse effects of uncertainty on high-order CBFs (HOCBFs). A properly structured covariance function enables us to convert the chance constraints of HOCBFs into a second-order cone constraint. This results in a convex constrained optimization as a safety filter. We analyze the feasibility of the resulting optimization and provide the necessary and sufficient conditions for feasibility. The effectiveness of the proposed strategy is validated through two numerical results.
Submission history
From: Mohammad Aali [view email][v1] Thu, 14 Mar 2024 17:03:11 GMT (560kb,D)
[v2] Thu, 18 Apr 2024 22:51:33 GMT (130kb,D)
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