Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies

In this letter we present a multi-rate control architecture for safety critical systems. We consider high level planner and low controller which operate at different frequencies. This behavior is described by piecewise nonlinear model evolves on continuous discrete level. First, sufficient conditions guarantee recursive constraint satisfaction the closed-loop system. Afterwards, propose design methodology leverages Control Barrier Functions (CBFs) Model Predictive (MPC) policies planning. The barrier function designed using full dynamical MPC based simplified planning model. When system affine linear, actions are computed solving convex optimization problems each of hierarchy. Finally, show effectiveness proposed strategy simulation example, where action updated higher frequency than command.