Photo by dillonwinspear from unsplash
This letter introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state… Click to show full abstract
This letter introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically defined tracking controller, thereby enforcing safety in state and input through a minimally invasive I-CBF controller framed as a quadratic program.
Keywords:
control;
control barrier;
dynamically defined;
barrier functions;
integral control
Journal Title: IEEE Control Systems Letters
Year Published: 2021
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!
Journal Title: IEEE Control Systems Letters
Year Published: 2021
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!