Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems

被引：1

作者：

Cohen, Max H. ^{[1
]}

Cosner, Ryan K. ^{[1
]}

Ames, Aaron D. ^{[1
]}

机构：

[1] CALTECH, Dept Mech & Civil Engn, Pasadena, CA 91125 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2024年 / 8卷

关键词：

Constrained control; control barrier functions; feedback linearization; Lyapunov methods;

D O I：

10.1109/LCSYS.2024.3412003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This letter draws connections between partial feedback linearization and CBF synthesis. We illustrate that when a control affine system is input-output linearizable with respect to a smooth output function, then, under mild regularity conditions, one may extend any safety constraint defined on the output to a CBF for the full-order dynamics. These more general results are specialized to robotic systems where the conditions required to synthesize CBFs simplify. The CBFs constructed from our approach are applied and verified in simulation and hardware experiments on a quadrotor.

引用

页码：2229 / 2234

页数：6

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