Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models

Autor:	Cohen, Max H., Molnar, Tamas G., Ames, Aaron D.
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
DOI:	10.1016/j.arcontrol.2024.100947
Popis:	Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied. Comment: To appear in Annual Reviews in Control
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2403.09865 Zobrazit plný text záznamu View this record from Arxiv