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.
|Number of pages||6|
|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||53rd IEEE Conference on Decision and Control|
|Period||15/12/2014 → 17/12/2014|