Correct-by-Design Control Barrier Functions for Euler-Lagrange Systems with Input Constraints
Wenceslao Shaw Cortez, Dimos V. Dimarogonas
Abstract
Control barrier functions are valuable for satisfying system constraints for general nonlinear systems. However a main drawback to existing techniques is the proper construction of these barrier functions to satisfy system and input constraints. In this paper, we propose a methodology to construct control barrier functions for Euler-Lagrange systems subject to input constraints. The proposed approach is validated in simulation on a 2-DOF planar manipulator.
Topics & Concepts
Nonlinear systemControl theory (sociology)Computer sciencePlanarControl systemEuler's formulaLagrange multiplierControl (management)Mathematical optimizationMathematicsEngineeringMathematical analysisArtificial intelligenceComputer graphics (images)Quantum mechanicsElectrical engineeringPhysicsAdaptive Control of Nonlinear SystemsAdvanced Control Systems OptimizationControl and Stability of Dynamical Systems