Uniting Control Lyapunov and Control Barrier Functions

Zakiyullah Romdlony; Bayu Jayawardhana

doi:10.1109/CDC.2014.7039737

Uniting Control Lyapunov and Control Barrier Functions

Zakiyullah Romdlony^*, Bayu Jayawardhana^*

^*Corresponding author for this work

Discrete Technology and Production Automation

Research output: Contribution to conference › Paper › Academic

69 Citations (Scopus)

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.

Original language	English
Pages	2293-2298
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.2014.7039737
Publication status	Published - Dec-2014
Event	53rd IEEE Conference on Decision and Control - Los Angeles, United States Duration: 15-Dec-2014 → 17-Dec-2014

Conference

Conference	53rd IEEE Conference on Decision and Control
Country/Territory	United States
City	Los Angeles
Period	15/12/2014 → 17/12/2014

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10.1109/CDC.2014.7039737

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AU - Jayawardhana, Bayu

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AB - 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.

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T2 - 53rd IEEE Conference on Decision and Control

Y2 - 15 December 2014 through 17 December 2014

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Uniting Control Lyapunov and Control Barrier Functions

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