The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
Robust control barrier functions for constrained stabilization of nonlinear systems
Abstract
Abstract Quadratic Programming (QP) has been used to combine Control Lyapunov and Control Barrier Functions (CLF and CBF) to design controllers for nonlinear systems with constraints. It has been successfully applied to robotic and automotive systems. The approach could be considered an extension of the CLF-based point-wise minimum norm controller. In this paper we modify the original QP problem in a way that guarantees that V 0 , if the barrier constraint is inactive, as well as local asymptotic stability under the standard (minimal) assumptions on the CLF and CBF. We also remove the assumption that the CBF has uniform relative degree one. The two design parameters of the new QP setup allow us to control how aggressive the resulting control law is when trying to satisfy the two control objectives. The paper presents the controller in a closed form making it unnecessary to solve the QP problem on line and facilitating the analysis. Next, we introduce the concept of Robust-CBF that, when combined with existing ISS-CLFs, produces controllers for constrained nonlinear systems with disturbances. In an example, a nonlinear system is used to illustrate the ease with which the proposed design method handles non-convex constraints and disturbances and to illuminate some tradeoffs.
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Cites
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Cited by
Singletary, A., Klingebiel, K., Bourne, J., Browning, A., Tokumaru, P., & Ames, A. (2021) · 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636670 · Cited by 182
Wabersich, K. P., Taylor, A. J., Choi, J. J., Sreenath, K., Tomlin, C. J., Ames, A. D., & Zeilinger, M. N. (2023) · IEEE Control Systems · doi:10.1109/mcs.2023.3291885 · Cited by 132
Safety-Critical Control With Input Delay in Dynamic Environment
Molnar, T. G., Kiss, A. K., Ames, A. D., & Orosz, G. (2023) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3227451 · Cited by 83
Disturbance Observer-based Robust Control Barrier Functions
Wang, Y., & Xu, X. (2023) · 2023 American Control Conference (ACC) · doi:10.23919/acc55779.2023.10156095 · Cited by 64
Cohen, M. H., Belta, C., & Tron, R. (2022) · 2022 IEEE 61st Conference on Decision and Control (CDC) · doi:10.1109/cdc51059.2022.9992667 · Cited by 29
Metadata
- Authors
- Jankovic, M.
- Venue
- Automatica
- Publisher
- Elsevier BV
- Published
- 2018-10
- Volume
- 96
- Issue
- 96
- Pages
- 359-367
- ISSN
- 0005-1098 (ISSN-L)
- OpenAlex
- W2887154784
- Cited by
- 406
- References
- 10
- FWCI
- 9.77
- Type
- journal article
- Language
- en
- Open access
- closed
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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