Proceedings ArticleDOI
Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints
Quan Nguyen,Koushil Sreenath +1 more
- pp 322-328
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This work introduces Exponential Control Barrier Functions as means to enforce strict state-dependent high relative degree safety constraints for nonlinear systems and develops a systematic design method that enables creating the Exponential CBFs for non linear systems making use of tools from linear control theory.Abstract:
We introduce Exponential Control Barrier Functions as means to enforce strict state-dependent high relative degree safety constraints for nonlinear systems. We also develop a systematic design method that enables creating the Exponential CBFs for nonlinear systems making use of tools from linear control theory. The proposed control design is numerically validated on a relative degree 6 linear system (the serial cart-spring system) and on a relative degree 4 nonlinear system (the two-link pendulum with elastic actuators.)read more
Citations
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Journal ArticleDOI
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
TL;DR: This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers.
Proceedings ArticleDOI
Control Barrier Functions: Theory and Applications
Aaron D. Ames,Samuel Coogan,Magnus Egerstedt,Gennaro Notomista,Koushil Sreenath,Paulo Tabuada +5 more
TL;DR: In this paper, the authors provide an introduction and overview of control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers.
Journal ArticleDOI
Safety Barrier Certificates for Collisions-Free Multirobot Systems
TL;DR: This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety constraints.
Posted Content
Control Barrier Functions: Theory and Applications
Aaron D. Ames,Samuel Coogan,Magnus Egerstedt,Gennaro Notomista,Koushil Sreenath,Paulo Tabuada +5 more
TL;DR: This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers.
Journal ArticleDOI
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
TL;DR: In this paper, the authors present a methodology that allows safety conditions ( expressed as control barrier functions) to be unified with performance objectives (represented as control Lyapunov functions) in the context of real-time optimization-based controllers.
References
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A nonlinear small gain theorem for the analysis of control systems with saturation
TL;DR: A nonlinear small gain theorem is presented that provides a formalism for analyzing the behavior of certain control systems that contain or utilize saturation.
Proceedings ArticleDOI
Control barrier function based quadratic programs with application to adaptive cruise control
TL;DR: A control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs is developed, which allows for the simultaneous achievement of control objectives subject to conditions on the admissible states of the system.