Control Barrier Function Based Quadratic Programs for Safety Critical Systems
نویسندگان
چکیده
منابع مشابه
Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive applications, this paper develops a methodology that allows safety conditions—expressed as control barrier functions— to be unified with performance objectiv...
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Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multiobjective control. The extension of a barrier function to a controlled system results in a control barrier function. This can be thought of as being analogous to how Sontag extended Lyapunov functions to control Lypaunov f...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2017
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2016.2638961