The DOI matches its Crossref record; 13 of the 13 references it cites were found in a registry or an index.
Input-to-State Safety With Control Barrier Functions
Open accessAbstract
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward invariance of a set, input-to-state safety conditions are specified in terms of forward invariance of a slightly larger set. In this context, invariance of the larger set implies that the states stay either inside or very close to the smaller safe set; and this closeness is bounded by the magnitude of the disturbances. The main contribution of the letter is the methodology used for obtaining a valid ISSf-CBF, given a control barrier function. The associated universal control law will also be provided. Towards the end, we will study unified quadratic programs that combine control Lyapunov functions and ISSf-CBFs in order to obtain a single control law that ensures both safety and stability in systems with input disturbances.
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Cites
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Sontag, E. D. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.28018 · Cited by 2,717
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
Ames, A. D., Xu, X., Grizzle, J. W., & Tabuada, P. (2017) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2016.2638961 · Cited by 2,512
Self-citationOn characterizations of the input-to-state stability property
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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
Self-citationSafety Barrier Certificates for Collisions-Free Multirobot Systems
Wang, L., Ames, A. D., & Egerstedt, M. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2017.2659727 · Cited by 795
Self-citationA characterization of integral input-to-state stability
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CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS
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Self-citationExponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints
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Self-citationSafety-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
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Self-citation
Metadata
- Authors
- Kolathaya, S., & Ames, A. D.
- Venue
- IEEE Control Systems Letters
- Published
- 2019-01
- Volume
- 3
- Issue
- 1
- Pages
- 108-113
- ISSN
- 2475-1456 (ISSN-L)
- OpenAlex
- W2789826932
- Cited by
- 328
- References
- 13
- FWCI
- 9.94
- Type
- journal article
- Language
- en
- Open access
- green
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