Switched control barrier function with applications to vehicle safety control

Yiwen Huang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


For safety-critical systems, the safety constraints are required to be satisfied through control design. To describe and apply system safety constraints, controlled invariant set (CIS) and control barrier function (CBF) are effective methods. In many applications, safety constraints may change dynamicly in operation environment and thus are not always continuous. However, such discontinuity and switching problems of CIS and CBF were well-addressed in the literature. In this paper, to tackle the issues, novel definitions of switched CIS (SCIS) and switched CBF (SCBF) are proposed. To address the undifferentiability issue in SCBF, a novel relaxation function that connects different SCISs is proposed. Sufficient conditions for selecting the relaxation function are proposed with a rigorous proof. In the application of vehicle safety control for an obstacle avoidance problem, a relaxation function is selected and demonstrated in the safety control design. To evaluate the effectiveness of the proposed definitions and control design, simulation results are presented and discussed.

Original languageEnglish (US)
Title of host publicationAdaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791884270
StatePublished - 2020
EventASME 2020 Dynamic Systems and Control Conference, DSCC 2020 - Virtual, Online
Duration: Oct 5 2020Oct 7 2020

Publication series

NameASME 2020 Dynamic Systems and Control Conference, DSCC 2020


ConferenceASME 2020 Dynamic Systems and Control Conference, DSCC 2020
CityVirtual, Online


  • Relaxation function
  • Switched control barrier function
  • Switched controlled invariant set
  • Vehicle safety control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Energy Engineering and Power Technology
  • Aerospace Engineering
  • Automotive Engineering
  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization


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