Uniting Control Lyapunov and Control Barrier Functions

Zakiyullah Romdlony*, Bayu Jayawardhana*

*Corresponding author for this work

Research output: Contribution to conferencePaperAcademic

25 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 languageEnglish
Pages2293-2298
Number of pages6
DOIs
Publication statusPublished - Dec-2014
Event53rd IEEE Conference on Decision and Control - Los Angeles, United States
Duration: 15-Dec-201417-Dec-2014

Conference

Conference53rd IEEE Conference on Decision and Control
CountryUnited States
CityLos Angeles
Period15/12/201417/12/2014

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