Uniting Control Lyapunov and Control Barrier Functions

Zakiyullah Romdlony*, Bayu Jayawardhana*

*Corresponding author for this work

Research output: Contribution to conferencePaperAcademic

25 Citations (Scopus)


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


Conference53rd IEEE Conference on Decision and Control
CountryUnited States
CityLos Angeles

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