Safe-by-construction autonomous vehicle overtaking using control barrier functions and model predictive control

DOI10.1080/00207721.2024.2304665MaRDI QIDQ6557206zbMATH OpenFDO

Authors Xinyi Yu, Shaoyuan Li, Xiang Yin

Publication date 18 June 2024

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2024.2304665

Mathematics Subject Classification ID

Model predictive control (93B45) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

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Cites work

• A survey on sliding mode control for networked control systems
• Adaptive Control Barrier Functions
• CasADi: a software framework for nonlinear optimization and optimal control
• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T-S fuzzy approach
• High-Order Control Barrier Functions
• Integrated stability control of AFS and DYC for electric vehicle based on non-smooth control
• Set invariance in control
• Sufficient conditions for feasibility of optimal control problems using control barrier functions

Cited in

(2)

• Robust safety control for automated driving systems with perception uncertainties
• Robust and safe control of mobile robots using control barrier functions: experimental results

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