Control barrier function based quadratic programs with application to adaptive cruise control

@article{Ames2014ControlBF,
  title={Control barrier function based quadratic programs with application to adaptive cruise control},
  author={A. Ames and J. Grizzle and P. Tabuada},
  journal={53rd IEEE Conference on Decision and Control},
  year={2014},
  pages={6271-6278}
}
This paper develops a control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs. The result is demonstrated on adaptive cruise control, which presents both safety and performance considerations, as well as actuator bounds. We begin by presenting a novel notion of a barrier function associated with a set, formulated in the context of Lyapunov-like conditions; the existence of a barrier function satisfying these conditions implies forward… Expand
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  • 2017 American Control Conference (ACC)
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