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Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs).
Stabilization with relaxed controls
Z. Artstein · 1983
Earlier work this paper cites.
Robust Nonlinear Control Design
R. A. Freeman and P. V. Kokotovic · 1996
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Nonlinear Systems
H. K. Khalil · 2002
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Convex optimization
S. P. Boyd and L. Vandenberghe · 2004
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Monitoring temporal properties of continuous signals
O. Maler and D. Nickovic · 2004
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A framework for worst-case and stochastic safety verification using barrier certificates
S. Prajna, A. Jadbabaie, and G. J. Pappas · 2007
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Some recent results in metric temporal logic in Formal Modeling and Analysis of Timed Systems
J. Ouaknine and J. Worrell · 2008
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Viability theory
J. P. Aubin · 2009
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Barrier lyapunov functions for the control of output-constrained nonlinear systems
K. P. Tee, S. S. Ge, and E. H. Tay · 2009
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Control lyapunov functions and hybrid zero dynamics
A. D. Ames, K. Galloway, and J. W. Grizzle · 2012
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
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Safety-critical and constrained geometric control synthesis using control lyapunov and control barrier functions for systems evolving on manifolds
G. Wu and K. Sreenath · 2015
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Robustness of control barrier functions for safety critical control
X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames · 2015
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Exponential control barrier functions for enforcing high relative-degree safety-critical constraints
Q. Nguyen and K. Sreenath · 2016
Cited alongside, same era.
Barrier functions: Bridging the gap between planning from specifications and safety-critical control
P. Nillson and A. D. Ames · 2018
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Barrier lyapunov function based state-constrained control for a class of nonlinear systems
K. Sachan and R. Padhi · 2018
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Control of multi-agent systems with finite time control barrier certificates and temporal logic
M. Srinivasan, S. Coogan, and M. Egerstedt · 2018
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Control barrier functions for signal temporal logic tasks
L. Lindemann and D. V. Dimarogonas · 2019
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Control barrier functions for systems with high relative degree
W. Xiao and C. Belta · 2019
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Feasibility guided learning for constrained optimal control problems
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A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada · 2017
Cited alongside, same era.
Nonsmooth barrier functions with applications to multi-robot systems
P. Glotfelter, J. Cortes, and M. Egerstedt · 2017
Cited alongside, same era.
Formally correct composition of coordinated behaviors using control barrier certificates
A. Li, L. Wang, P. Pierpaoli, and M. Egerstedt · 2018
Cited alongside, same era.
W. Xiao, C. Belta, and C. G. Cassandras · 2020
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Adaptive control barrier functions for safety-critical systems
W. Xiao, C. Belta, and C. G. Cassandras · 2021
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Sufficient conditions for feasibility of optimal control problems using control barrier functions
W. Xiao, C. Belta, and C. G. Cassandras · 2021
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