ETDs

This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.

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On the Numerical Computation of Second Order Control Barrier Functions

Description
In recent years, the development of Control Barrier Functions (CBF) has allowed safety guarantees to be placed on nonlinear control affine systems. While powerful as a mathematical tool, CBF implementations on systems with high relative degree constraints can become too computationally intensive for real-time control. Such deployments typically rely on…

In recent years, the development of Control Barrier Functions (CBF) has allowed safety guarantees to be placed on nonlinear control affine systems. While powerful as a mathematical tool, CBF implementations on systems with high relative degree constraints can become too computationally intensive for real-time control. Such deployments typically rely on the analysis of a system's symbolic equations of motion, leading to large, platform-specific control programs that do not generalize well. To address this, a more generalized framework is needed. This thesis provides a formulation for second-order CBFs for rigid open kinematic chains. An algorithm for numerically computing the safe control input of a CBF is then introduced based on this formulation. It is shown that this algorithm can be used on a broad category of systems, with specific examples shown for convoy platooning, drone obstacle avoidance, and robotic arms with large degrees of freedom. These examples show up to three-times performance improvements in computation time as well as 2-3 orders of magnitude in the reduction in program size.
ContributorsPietz, Daniel Johannes (Author) / Fainekos, Georgios (Thesis advisor) / Vrudhula, Sarma (Thesis advisor) / Pedrielli, Giulia (Committee member) / Pavlic, Theodore (Committee member) / Arizona State University (Publisher)
Created2022