Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Y. Wardi, Magnus Egerstedt
Abstract
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.
Topics & Concepts
Control theory (sociology)Quadratic equationController (irrigation)State (computer science)Nonlinear systemControl (management)Computer scienceEncoding (memory)Tracking (education)Control engineeringMathematicsAlgorithmEngineeringArtificial intelligencePhysicsGeometryPedagogyAgronomyQuantum mechanicsPsychologyBiologyAdvanced Control Systems OptimizationAdaptive Control of Nonlinear SystemsControl Systems and Identification