Uniting Control Lyapunov and Control Barrier Functions

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Dec 2014 Netherlands Publisher:IEEEJournal:53rd IEEE Conference on Decision and Control

Authors: Muhammad Zakiyullah Romdlony; Bayu Jayawardhana;

doi: 10.1109/cdc.2014.7039737

handle: 11370/0c957c0c-3668-4f0f-b6aa-0d010a5e7101

Uniting Control Lyapunov and Control Barrier Functions

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Abstract

In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBF. The efficacy of the proposed approach is shown in the simulation results.

Country

Netherlands

Related Organizations

University of Groningen
Netherlands

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