Control Barrier Function Based Quadratic Programs for Safety Critical Systems

@article{Ames2017ControlBF,
  title={Control Barrier Function Based Quadratic Programs for Safety Critical Systems},
  author={A. Ames and Xiangru Xu and J. Grizzle and P. Tabuada},
  journal={IEEE Transactions on Automatic Control},
  year={2017},
  volume={62},
  pages={3861-3876}
}
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 objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers… Expand
Approximate Optimal Control for Safety-Critical Systems with Control Barrier Functions
  • Max Cohen, C. Belta
  • Computer Science, Engineering
  • 2020 59th IEEE Conference on Decision and Control (CDC)
  • 2020
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