Robustness of Control Barrier Functions for Safety Critical Control

@inproceedings{Xu2015RobustnessOC,
  title={Robustness of Control Barrier Functions for Safety Critical Control},
  author={Xiangru Xu and Paulo Tabuada and Jessy W. Grizzle and Aaron D. Ames},
  booktitle={ADHS},
  year={2015}
}
Abstract Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a controlled system results in a control barrier function. This can be thought of as being analogous to how Sontag extended Lyapunov functions to control Lypaunov functions in order to enable controller synthesis for stabilization tasks. A control barrier… CONTINUE READING

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