Title :
Uniting Control Lyapunov and Control Barrier Functions
Author :
Romdlony, Muhammad Zakiyullah ; Jayawardhana, Bayu
Author_Institution :
Fac. of Math. & Natural Sci., Univ. of Groningen, Groningen, Netherlands
Abstract :
In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBF. The efficacy of the proposed approach is shown in the simulation results.
Keywords :
Lyapunov methods; control system synthesis; nonlinear control systems; stability; CBF; CLF; control Lyapunov function; control barrier function; nonlinear control design; safety control design; stabilization; Closed loop systems; Control design; Lyapunov methods; Merging; Safety; Simulation; Trajectory; Control Barrier Function; Control Lyapunov Function; Uniting Control Lyapunov and Barrier Function;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039737
