Energy based Control Barrier Functions for Robotic Systems

  title={Energy based Control Barrier Functions for Robotic Systems},
  author={Shishir Kolathaya},
Control barrier function (CBF) based Quadratic Programs (QPs) were introduced in early 2014 as a means to guarantee safety in affine control systems in conjunction with stability/tracking. However, due to the presence of modelbased terms, they fail to provide guarantees under model perturbations. Therefore, in this paper, we propose a new class of CBFs for robotic systems that augment kinetic energy with the traditional forms. We show that with torque limits permitting, and with the kinematic… Expand

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