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. doi:10.1109/lcsys.2020.3006764. 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 | |||||||||
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| 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 | |||||||||
| DOI: | 10.1109/lcsys.2020.3006764 | |||||||||
| 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: | 16 Nov 2021 18:30 |
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