High-Order Control Barrier Functions

• Published in: IEEE transactions on automatic control Vol. 67; no. 7; pp. 3655 - 3662
• Main Authors: Xiao, Wei, Belta, Calin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Convergence; Cruise control; Dynamical systems; Feasibility; Liapunov functions; Lyapunov methods; Navigation; Nonlinear control; Optimal control; Optimization; Parameterization; Robot control; Safety; safety-critical control; Unknown environments

We approach the problem of stabilizing a dynamical system while optimizing a cost and satisfying safety constraints and control limitations. For (nonlinear) affine control systems and quadratic costs, it has been shown that control barrier functions (CBFs) guaranteeing safety and control Lyapunov fu...