Control Barrier Function Based Quadratic Programs for Safety Critical Systems
From MaRDI portal
Publication:4589444
DOI10.1109/TAC.2016.2638961zbMath1373.90092arXiv1609.06408MaRDI QIDQ4589444
Jessy W. Grizzle, Aaron D. Ames, Xiangru Xu, Paulo Tabuada
Publication date: 10 November 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Full work available at URL: https://arxiv.org/abs/1609.06408
Related Items (78)
Safety-critical dynamic event-triggered control of nonlinear systems ⋮ Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles ⋮ Safe economic model predictive control of nonlinear systems ⋮ Fixed-time control under spatiotemporal and input constraints: a quadratic programming based approach ⋮ Necessary and sufficient conditions for the nonincrease of scalar functions along solutions to constrained differential inclusions ⋮ Safety control using barrier certificates for multiagent systems with input saturation and formation constraints ⋮ Safety control of a class of fully actuated systems subject to uncertain actuation dynamics ⋮ Smooth converse Lyapunov-barrier theorems for asymptotic stability with safety constraints and reach-avoid-stay specifications ⋮ Sufficient conditions for forward invariance and contractivity in hybrid inclusions using barrier functions ⋮ A barrier function approach to finite-time stochastic system verification and control ⋮ Constraint learning for control tasks with limited duration barrier functions ⋮ A predictive safety filter for learning-based control of constrained nonlinear dynamical systems ⋮ Control barrier functions for stochastic systems ⋮ DMPC: a data-and model-driven approach to predictive control ⋮ Nonlinear adaptive cruise control of vehicular platoons ⋮ Safe and sub-optimal CAV platoon longitudinal control protocol accounting for state constraints and uncertain vehicle dynamics ⋮ Temporal logic guided safe model-based reinforcement learning: a hybrid systems approach ⋮ Nonlinear control of passive vibratory systems with finite actuation stroke ⋮ Controlling stick balancing on a linear track: delayed state feedback or delay-compensating predictor feedback? ⋮ Robust satisficing cooperative control barrier functions for multirobots systems using information‐gap theory ⋮ Surviving disturbances: a predictive control framework with guaranteed safety ⋮ Risk-averse receding horizon motion planning for obstacle avoidance using coherent risk measures ⋮ Quantized feedback control of linear system with performance barrier ⋮ Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems ⋮ Safe reward‐based deep reinforcement learning control for an electro‐hydraulic servo system ⋮ Vector Control Lyapunov and Barrier Functions for Safe Stabilization of Interconnected Systems ⋮ Graph-theoretic approaches for analyzing the resilience of distributed control systems: a tutorial and survey ⋮ <scp>Near‐optimal</scp> control of a class of <scp>output‐constrained</scp> systems using recurrent neural network: A <scp>control‐barrier</scp> function approach ⋮ Adaptive dynamic programming for optimal control of discrete‐time nonlinear system with state constraints based on control barrier function ⋮ Safe reinforcement learning: A control barrier function optimization approach ⋮ Safe control synthesis using environmentally robust control barrier functions ⋮ Cruise controllers for lane-free ring-roads based on control Lyapunov functions ⋮ Synchronization and balancing around simple closed polar curves with bounded trajectories ⋮ Prescribed-Time Mean-Nonovershooting Control under Finite-Time Vanishing Noise ⋮ Addressing complex state constraints in the integral barrier Lyapunov function-based adaptive tracking control ⋮ Robust control barrier functions under high relative degree and input constraints for satellite trajectories ⋮ Lyapunov-barrier characterization of robust reach-avoid-stay specifications for hybrid systems ⋮ Off‐policy model‐based end‐to‐end safe reinforcement learning ⋮ Feasibility‐guaranteed safety‐critical control with high‐order control barrier function method ⋮ Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles ⋮ Collision avoidance and connectivity preservation using asymmetric barrier Lyapunov function with time-varying distance-constraints ⋮ Nonsmooth control barrier function design of continuous constraints for network connectivity maintenance ⋮ I\&I adaptive fault-tolerant safe control of safety-critical systems ⋮ Robust self‐triggered control for nonlinear cyber‐physical systems with state constraints under DoS attacks ⋮ Safety MPC of constrained switched systems with control barrier function ⋮ Governor-parameterized barrier function for safe output tracking with locally sensed constraints ⋮ Safe multi-agent reinforcement learning for multi-robot control ⋮ Motion control of connected and automated vehicles in a lane‐changing scenario with guaranteed tracking performance ⋮ High‐order control barrier functions‐based optimization control for time‐varying nonlinear systems with full‐state constraints: A dynamic sub‐safe set approach ⋮ Data-driven design of safe control for polynomial systems ⋮ Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints ⋮ Control barrier functionals: Safety‐critical control for time delay systems ⋮ The ℒ1 controller synthesis for piecewise continuous nonlinear systems via set invariance principles ⋮ Control Lyapunov–Barrier function based model predictive control for stochastic nonlinear affine systems ⋮ Verification and runtime assurance for dynamical systems with uncertainty ⋮ Model-based reinforcement learning for approximate optimal control with temporal logic specifications ⋮ Quantitative Robustness Analysis of Sensor Attacks on Cyber-Physical Systems ⋮ Stabilization with guaranteed safety using barrier function and control Lyapunov function ⋮ Robust control barrier functions for constrained stabilization of nonlinear systems ⋮ Adaptive asymptotic tracking using barrier functions ⋮ Linear Temporal Logic Satisfaction in Adversarial Environments Using Secure Control Barrier Certificates ⋮ Adaptive robust control for a soft robotic snake: a smooth-zone approach ⋮ Constrained control of input-output linearizable systems using control sharing barrier functions ⋮ Safe nonlinear control design for input constrained polynomial systems using sum-of-squares programming ⋮ Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies ⋮ Distributed transient frequency control for power networks with stability and performance guarantees ⋮ Deadlock Analysis and Resolution for Multi-robot Systems ⋮ Safety-critical optimal control for autonomous systems ⋮ Safety stabilization of switched systems with unstable subsystems ⋮ Vehicle motion control under equality and inequality constraints: a diffeomorphism approach ⋮ Necessary conditions for feedback stabilization and safety ⋮ Fault-tolerant safe control design of switched and interconnected nonlinear systems ⋮ Razumikhin and Krasovskii approaches for safe stabilization ⋮ Safe-by-design control for Euler-Lagrange systems ⋮ Learning-based symbolic abstractions for nonlinear control systems ⋮ Safe exploration in model-based reinforcement learning using control barrier functions ⋮ Encoding inductive invariants as barrier certificates: synthesis via difference-of-convex programming ⋮ Small-gain theorem for safety verification of interconnected systems
This page was built for publication: Control Barrier Function Based Quadratic Programs for Safety Critical Systems
