Safe Control Synthesis via Input Constrained Control Barrier Functions
Safe Control Synthesis via Input Constrained Control Barrier Functions
IEEE CDC 2021
@INPROCEEDINGS{9682938,
author={Agrawal, Devansh R. and Panagou, Dimitra},
booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
title={Safe Control Synthesis via Input Constrained Control Barrier Functions},
year={2021},
volume={},
number={},
pages={6113-6118},
doi={10.1109/CDC45484.2021.9682938}
}
Code
Abstract
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine systems with input constraints. The method identifies a subset of the safe set of states, and constructs a controller to render the subset forward invariant. The feedback controller is represented as the solution to a quadratic program, which can be solved efficiently for real-time implementation. Furthermore, we show that ICCBFs are a generalization of Higher Order Control Barrier Functions, and thus are applicable to systems of non- uniform relative degree. Simulation results are presented for the adaptive cruise control problem, and a spacecraft rendezvous problem.
Authors
Bib
@INPROCEEDINGS{9682938, author={Agrawal, Devansh R. and Panagou, Dimitra}, booktitle={2021 60th IEEE Conference on Decision and Control (CDC)}, title={Safe Control Synthesis via Input Constrained Control Barrier Functions}, year={2021}, volume={}, number={}, pages={6113-6118}, doi={10.1109/CDC45484.2021.9682938} }