Name
Title | ||
|---|---|---|
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility |
Abstract | ||
|---|---|---|
Safety is one of the fundamental problems in robotics. Recently, a quadratic program based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it forms a safety-critical control strategy, named CLF-CBF-QP, which can mediate between achieving the control objective and ensuring safety, while being executable in real-time. However, once additional constraints such as input constraints are introduced, the CLF-CBF-QP may encounter infeasibility. In order to address the challenge arises due to the infeasibility, we propose an optimal-decay form for safety-critical control wherein the decay rate of the CBF is optimized point-wise in time so as to guarantee point-wise feasibility when the state lies inside the safe set. The proposed control design is numerically validated using an adaptive cruise control example. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.23919/ACC50511.2021.9482626 | 2021 AMERICAN CONTROL CONFERENCE (ACC) |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jun Zeng | 1 | 1 | 1.74 |
| Bike Zhang | 2 | 1 | 0.71 |
| Zhongyu Li | 3 | 8 | 5.85 |
| Koushil Sreenath | 4 | 358 | 33.41 |