Integral Control Barrier Functions for Dynamically Defined Control Laws

被引：36

作者：

Ames, Aaron D. ^{[1
]}

Notomista, Gennaro ^{[2
]}

Wardi, Yorai ^{[3
]}

Egerstedt, Magnus ^{[3
]}

机构：

[1] CALTECH, Dept Mech & Civil Engn Control & Dynam Syst, Pasadena, CA 91125 USA

[2] Georgia Tech, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

[3] Georgia Tech, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 03期

关键词：

Constrained control; output regulation; control system architecture; QUADRATIC PROGRAMS; STATE;

D O I：

10.1109/LCSYS.2020.3006764

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically defined tracking controller, thereby enforcing safety in state and input through a minimally invasive I-CBF controller framed as a quadratic program.

引用

页码：887 / 892

页数：6

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