Safe-by-Design Control for Euler-Lagrange Systems

Understand

Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system.

• Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of a single constraint function.
• Euler-Lagrange systems represent many real-world systems including robots and vehicles, which must abide by safety-regulations, especially for use in human-occupied environments.
• These safety regulations include state constraints (position and velocity) and input constraints that must be respected at all times.