Input-to-State Safety With Control Barrier Functions
نویسندگان
چکیده
منابع مشابه
Robustness of Control Barrier Functions for Safety Critical Control
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...
متن کاملDiscrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation
In this paper, we extend the concept of control barrier functions, developed initially for continuous time systems, to the discrete-time domain. We demonstrate safety-critical control for nonlinear discrete-time systems with applications to 3D bipedal robot navigation. Particularly, we mathematically analyze two different formulations of control barrier functions, based on their continuous-time...
متن کاملLyapunov functions for ℒ2 and input-to-state stability in a class of quantized control systems
L2 and input-to-state stability (ISS) properties of a class of linear quantized control systems are considered. The quantized control system differs slightly from the ones considered in the literature previously. A recently proposed hybrid modeling framework and corresponding Lyapunov analysis tools are used to calculate the finite gains of the closed loop system.
متن کاملLocal Self-concordance of Barrier Functions Based on Kernel-functions
Many efficient interior-point methods (IPMs) are based on the use of a self-concordant barrier function for the domain of the problem that has to be solved. Recently, a wide class of new barrier functions has been introduced in which the functions are not self-concordant, but despite this fact give rise to efficient IPMs. Here, we introduce the notion of locally self-concordant barrier functio...
متن کاملSafety Control Synthesis with Input Limits: a Hybrid Approach
We introduce a hybrid (discrete–continuous) safety controller which enforces strict state and input constraints on a system—but only acts when necessary, preserving transparent operation of the original system within some safe region of the state space. We define this space using a MinQuadratic Barrier function, which we construct along the equilibrium manifold using the Lyapunov functions whic...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2019
ISSN: 2475-1456
DOI: 10.1109/lcsys.2018.2853698