Designing Control Barrier Functions Using a Dynamic Backup Policy
read the original abstract
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspiration from the reference governor literature, the proposed method defines a family of backup policies, parametrized by the equilibrium manifold of the system. The control barrier function is defined on the augmented state-and-reference space: given a state-reference pair, the approach quantifies the distance to constraint violation at any time in the future. The proposed method is applied to an inverted pendulum on cart.
This paper has not been read by Pith yet.
Forward citations
Cited by 2 Pith papers
-
Using Dynamic Safety Margins as Control Barrier Functions
Dynamic safety margins are shown to be control barrier functions for an augmented system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control-sharing.
-
Using Dynamic Safety Margins as Control Barrier Functions
Dynamic safety margins are shown to be control barrier functions for an augmented state-reference system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control sharing.
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.