Uniting Control Lyapunov and Control Barrier Functions

被引：0
|
作者：
Romdlony, Muhammad Zakiyullah [1 ]
Jayawardhana, Bayu [1 ]
机构：
[1] Univ Groningen, Fac Math & Nat Sci, ITM, NL-9700 AB Groningen, Netherlands
来源：
2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2014年
关键词：
Control Lyapunov Function; Control Barrier Function; Uniting Control Lyapunov and Barrier Function; MODEL-PREDICTIVE CONTROL; REFERENCE GOVERNOR; LINEAR-SYSTEMS; STABILIZATION; STATE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 CBE The efficacy of the proposed approach is shown in the simulation results.
引用
收藏
页码：2293 / 2298
页数：6
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