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Integral Control Barrier Functions for Dynamically Defined Control Laws

Ames, Aaron D. and Notomista, Gennaro and Wardi, Yorai and Egerstedt, Magnus (2021) Integral Control Barrier Functions for Dynamically Defined Control Laws. IEEE Control Systems Letters, 5 (3). pp. 887-892. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20200710-140738518

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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.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lcsys.2020.3006764DOIArticle
https://arxiv.org/abs/2006.16936arXivDiscussion Paper
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Notomista, Gennaro0000-0002-1478-2790
Egerstedt, Magnus0000-0003-4213-5299
Additional Information:© 2020 IEEE. Manuscript received March 17, 2020; revised May 24, 2020; accepted June 15, 2020. Date of publication July 2, 2020; date of current version July 17, 2020. Recommended by Senior Editor S. Tarbouriech. (Corresponding author: Gennaro Notomista.)
Subject Keywords:Constrained control, output regulation, control system architecture
Issue or Number:3
Record Number:CaltechAUTHORS:20200710-140738518
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200710-140738518
Official Citation:A. D. Ames, G. Notomista, Y. Wardi and M. Egerstedt, "Integral Control Barrier Functions for Dynamically Defined Control Laws," in IEEE Control Systems Letters, vol. 5, no. 3, pp. 887-892, July 2021, doi: 10.1109/LCSYS.2020.3006764
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104333
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Jul 2020 22:33
Last Modified:28 Jul 2020 19:48

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