The DOI matches its Crossref record; 13 of the 13 references it cites were found in a registry or an index.
Control Barrier Functions for Systems with High Relative Degree
Open accessAbstract
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We introduce high order barrier functions (HOBFs), and show that their satisfaction of Lyapunov-like conditions implies the forward invariance of the intersection of a series of sets. We then introduce HOCBF, and show that any control input that satisfies the HOCBF constraint renders the intersection of a series of sets forward invariant. We formulate optimal control problems with constraints given by HOCBF and control Lyapunov functions (CLF), and provide a promising method to address the conflict between HOCBF constraints and control limitations by penalizing the class K functions. We illustrate the proposed method on an adaptive cruise control problem.
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Cites
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Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
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Stabilization with relaxed controls
Artstein, Z. (1983) · Nonlinear Analysis: Theory, Methods & Applications · doi:10.1016/0362-546x(83)90049-4 · Cited by 991
Control barrier function based quadratic programs with application to adaptive cruise control
Ames, A. D., Grizzle, J. W., & Tabuada, P. (2014) · 53rd IEEE Conference on Decision and Control · doi:10.1109/cdc.2014.7040372 · Cited by 974
Robust Nonlinear Control Design
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CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS
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A Lyapunov-Like Characterization of Asymptotic Controllability
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Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints
Nguyen, Q., & Sreenath, K. (2016) · 2016 American Control Conference (ACC) · doi:10.1109/acc.2016.7524935 · Cited by 519
Control Barrier Functions for Signal Temporal Logic Tasks
Lindemann, L., & Dimarogonas, D. V. (2019) · IEEE Control Systems Letters · doi:10.1109/lcsys.2018.2853182 · Cited by 319
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
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Cited by
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
Metadata
- Authors
- Xiao, W., & Belta, C.
- Venue
- 2019 IEEE 58th Conference on Decision and Control (CDC)
- Publisher
- IEEE
- Published
- 2019-12
- Volume
- 2019
- Pages
- 474-479
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W3011888914
- Cited by
- 328
- References
- 13
- FWCI
- 27.59
- Type
- conference paper
- Language
- en
- Open access
- green
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