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Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints
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.)
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Cites
Constrained model predictive control: Stability and optimality
Mayne, D. Q., Rawlings, J. B., Rao, C. V., & Scokaert, P. O. M. (2000) · Automatica · doi:10.1016/s0005-1098(99)00214-9 · Cited by 8,736
Cited by
Input-to-State Safety With Control Barrier Functions
Kolathaya, S., & Ames, A. D. (2019) · IEEE Control Systems Letters · doi:10.1109/lcsys.2018.2853698 · Cited by 328
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
Metadata
- Authors
- Nguyen, Q., & Sreenath, K.
- Venue
- 2016 American Control Conference (ACC)
- Publisher
- IEEE
- Published
- 2016-07
- Pages
- 322-328
- ISSN
- 0743-1619 (ISSN-L)
- OpenAlex
- W2489231587
- Cited by
- 519
- References
- 1
- FWCI
- 13.18
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Nguyen, Q., & Sreenath, K. (2016). Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints. 2016 American Control Conference (ACC). https://doi.org/10.1109/acc.2016.7524935
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