Corpus ID: 16587254

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

@article{Ames2016ControlBF,
  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},
  journal={ArXiv},
  year={2016},
  volume={abs/1609.06408}
}
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
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