Safety in Dynamical System using Control Barrier Function

All dates for this event occur in the past.

Scott Lab E141
201 W. 19th Avenue
Columbus, OH 43210
United States

Seminar Speaker: Qadeer Ahmed

Abstract: The talk will focus on the safety of dynamical systems using the concepts of control barrier functions (CBF). It will focus on some basics of CBFs before diving into the problem of providing safety guarantees for dynamic systems of high relative degree in the presence of state measurement errors. The talk will focus on High Order Measurement Robust Control Barrier Functions (HOMR-CBFs), an extension of the recently proposed Measurement Robust Control Barrier Functions. We will formally define HO-MR-CBF, and identify conditions under which the proposed HO-MR-CBF can render the system’s safe set forward invariant. In addition, we provide bounds on the state measurement errors for which the optimization problem for identifying the corresponding safe controllers is feasible for all states within the safe set and given restricted control inputs. We demonstrate the proposed approach through numerical experiments on a collision avoidance scenario in the presence of measurement noise using a model of a wheeled robot. We show that using our proposed control method, the robot, which has access to only biased state estimates, will be successful in avoiding the obstacle.

Bio: Qadeer Ahmed has a decade-long research experience in smart mobility, energy-efficient vehicles, vehicular cybersecurity, and safety. He is now an Assistant Professor at the Department of Mechanical and Aerospace Engineering at The Ohio State University. He also holds courtesy appointments with OSU’s Departments of Electrical and Computer Engineering and Integrated Systems Engineering. He is also a fellow of OSU’s Center for Automotive Research. He is a recipient of SAE’s Ralph R. Teetor Educational Award in 2023, SAE's L. Ray Buckendale Award in 2019, and OSU’s Lumley Research Award in 2018.

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