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Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced to quadratic programs (QP) by using control barrier functions (CBF) and control Lyapunov functions.
Control barrier functions for systems with high relative degree
Wei Xiao and Calin Belta · 1903
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Stabilization with relaxed controls
Zvi Artstein · 1983
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A lyapunov-like stabilization of asymptotic controllability
E. Sontag · 1983
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Robust Nonlinear Control Design
R. A. Freeman and P. V. Kokotovic · 1996
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Nonlinear Systems
Hassan K. Khalil · 2002
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Convex optimization
Stephen P Boyd and Lieven Vandenberghe · 2004
Earlier work this paper cites.
A framework for worst-case and stochastic safety verification using barrier certificates
Stephen Prajna, Ali Jadbabaie, and George J. Pappas · 2007
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Constructive safety using control barrier functions
Peter Wieland and Frank Allgower · 2007
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Viability theory
Jean Pierre Aubin · 2009
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Barrier lyapunov functions for the control of output-constrained nonlinear systems
Keng Peng Tee, Shuzhi Sam Ge, and Eng Hock Tay · 2009
Cited alongside, same era.
Control lyapunov functions and hybrid zero dynamics
Aaron D. Ames, K. Galloway, and J. W. Grizzle · 2012
Cited alongside, same era.
K. Galloway, K. Sreenath, A. D. Ames, and J.W. Grizzle · 2013
Cited alongside, same era.
Multi-objective control for multi-agent systems using lyapunov-like barrier functions
D. Panagou, D. M. Stipanovic, and P. G. Voulgaris · 2013
Control barrier function based quadratic programs with application to adaptive cruise control
Aaron D. Ames, Jessy W. Grizzle, and Paulo Tabuada · 2014
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Control barrier function based quadratic programs with application to bipedal robotic walking
Shao-Chen Hsu, Xiangru Xu, and Aaron D. Ames · 2015
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Safety-critical and constrained geometric control synthesis using control lyapunov and control barrier functions for systems evolving on manifolds
Guofan Wu and Koushil Sreenath · 2015
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Exponential control barrier functions for enforcing high relative-degree safety-critical constraints
Quan Nguyen and Koushil Sreenath · 2016
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Nonsmooth barrier functions with applications to multi-robot systems
P. Glotfelter, J. Cortes, and M. Egerstedt · 2017
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Cited alongside, same era.
Converse barrier certificate theorem
Rafael Wisniewski and Christoffer Sloth · 2013
Cited alongside, same era.
Control barrier functions for signal temporal logic tasks
L. Lindemann and D. V. Dimarogonas · 2019
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Feasibility guided learning for robust control in constrained optimal control problems
Wei Xiao, Calin Belta, and Christos G. Cassandras · 2019
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