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The real-time safety of dynamical systems has been becoming more and more important in many practical applications including autonomous vehicles and robotic manipulators. In this paper, we consider the sampled-data safety-critical control problem of nonlinear systems with input delay. By using sampled-data control barrier and Lyapunov functions, we first develop a time-triggered safe control method when only sampled-data states are available. The sampled-data control input with zero-order holder can be directly computed by solving a quadratic program with input constraints, under which both the safety and stability of control systems can be ensured. The simulation results of obstacle avoidance with a mobile robot are presented to verify the superiorities of the proposed control method.

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Sampled-Data Safety-Critical Control of Nonlinear Systems with Input Delay

  • 会议论文

  • 发表日期：

    2025年

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  • Jiankun Sun,
  • Huiming Wang,
  • Xiangyu Wang,
  • Yunda Yan,
  • Tiancheng Zhou,
  • Xiaoduo Zhang

摘要

The real-time safety of dynamical systems has been becoming more and more important in many practical applications including autonomous vehicles and robotic manipulators. In this paper, we consider the sampled-data safety-critical control problem of nonlinear systems with input delay. By using sampled-data control barrier and Lyapunov functions, we first develop a time-triggered safe control method when only sampled-data states are available. The sampled-data control input with zero-order holder can be directly computed by solving a quadratic program with input constraints, under which both the safety and stability of control systems can be ensured. The simulation results of obstacle avoidance with a mobile robot are presented to verify the superiorities of the proposed control method.