English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this letter, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner generates a reference trajectory that is tracked by a low-level controller under input constraints. We introduce the notion of fixed-time barrier functions which is leveraged by the proposed low-level controller in a quadratic programming framework. Then, we design a model predictive control policy for high-level planning with a bound on the rate of change for the reference trajectory to guarantee that periodic safety is achieved. We demonstrate the effectiveness of the proposed strategy on a simulation example, where the proposed fixed-time stabilizing low-level controller shows successful satisfaction of control objectives, whereas an exponentially stabilizing low-level controller fails.

Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions