Uniting Control Lyapunov and Control Barrier Functions

被引：0

作者：

Romdlony, Muhammad Zakiyullah ^{[1
]}

Jayawardhana, Bayu ^{[1
]}

机构：

[1] Univ Groningen, Fac Math & Nat Sci, ITM, NL-9700 AB Groningen, Netherlands

来源：

2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2014年

关键词：

Control Lyapunov Function; Control Barrier Function; Uniting Control Lyapunov and Barrier Function; MODEL-PREDICTIVE CONTROL; REFERENCE GOVERNOR; LINEAR-SYSTEMS; STABILIZATION; STATE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBE The efficacy of the proposed approach is shown in the simulation results.

引用

页码：2293 / 2298

页数：6

共 50 条

[1] Uniting Two Control Lyapunov Functions for Affine Systems
Andrieu, Vincent
Prieur, Christophe
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2010, 55 (08) : 1923 - 1927
[2] Uniting two Control Lyapunov Functions for affine systems
Andrieu, Vincent
Prieur, Christophe
[J]. 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 622 - 627
[3] Safe Learning for Control using Control Lyapunov Functions and Control Barrier Functions: A Review
Anand, Akhil
Seel, Katrine
Gjaerum, Vilde
Hakansson, Anne
Robinson, Haakon
Saad, Aya
[J]. KNOWLEDGE-BASED AND INTELLIGENT INFORMATION & ENGINEERING SYSTEMS (KSE 2021), 2021, 192 : 3987 - 3997
[4] Relaxed Compatibility Between Control Barrier and Lyapunov Functions
Wang, Han
Margellos, Kostas
Papachristodoulou, Antonis
[J]. 2024 UKACC 14TH INTERNATIONAL CONFERENCE ON CONTROL, CONTROL, 2024, : 125 - 126
[5] SOS Construction of Compatible Control Lyapunov and Barrier Functions
Schneeberger, Michael
Dorfler, Florian
Mastellone, Silvia
[J]. IFAC PAPERSONLINE, 2023, 56 (02): : 10428 - 10434
[6] Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions
Du, Desong
Han, Shaohang
Qi, Naiming
Ammar, Haitham Bou
Wang, Jun
Pan, Wei
[J]. 2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023), 2023, : 9442 - 9448
[7] Barrier Lyapunov Functions and Constrained Model Reference Adaptive Control
L'Afflitto, Andrea
[J]. IEEE CONTROL SYSTEMS LETTERS, 2018, 2 (03): : 441 - 446
[8] High Order Robust Adaptive Control Barrier Functions and Exponentially Stabilizing Adaptive Control Lyapunov Functions
Cohen, Max H.
Belta, Calin
[J]. 2022 AMERICAN CONTROL CONFERENCE, ACC, 2022, : 2233 - 2238
[9] Integral Concurrent Learning Control Lyapunov Functions and High Order Control Barrier Functions and Application to Adaptive Cruise Control
Wang, Liqi
Dong, Jiuxiang
[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2024, 25 (05) : 3714 - 3723
[10] Dynamic regressor extension and mixing control Lyapunov functions and high-order control Barrier functions
Sun, Peng
Dong, Jiuxiang
[J]. JOURNAL OF CONTROL AND DECISION, 2024,

← 1 2 3 4 5 →