Li, Zongxuan (Tongji University), Cheng, Yifan (Tongji University), Chu, Hongqing (Tongji university), Gao, Bingzhao (Tongji University), Chen, Hong (Tongji University)

Safety-Critical Control of FIWMD-EV Trajectory Tracking Via Adaptive CVaR-Based Control Barrier Function

Scheduled for presentation during the Invited session "Control, Simulation and Modeling of Intelligent Vehicles" (ThA3), Thursday, October 31, 2024, 11:30−11:50, Room T3

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

Ensuring adaptive safety control performance in stochastic disturbance poses challenges for safety-critical autonomous vehicle control. This study investigates adaptive conditional-value-at-risk based control barrier functions (CVaR-CBFs) design for the trajectory tracking problem on a FIWMD-EV facing stochastic disturbance. Comparative analysis with the adaptive high-order CBF controller illustrates the superiority of the proposed controller in safety satisfaction.