Corpus ID: 16587254

Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems

  title={Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems},
  author={A. Ames and Xiangru Xu and J. Grizzle and P. Tabuada},
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 optimizationbased controllers… Expand
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
This paper develops a methodology that allows safety conditions—expression 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
Combining Control Lyapunov and Barrier Functions for constrained stabilization of nonlinear systems
  • M. Jankovic
  • Engineering, Computer Science
  • 2017 American Control Conference (ACC)
  • 2017
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Control barrier function based quadratic programs with application to adaptive cruise control
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