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Control barrier function based quadratic programs with application to adaptive cruise control

Ames, Aaron D. and Grizzle, Jessy W. and Tabuada, Paulo (2014) Control barrier function based quadratic programs with application to adaptive cruise control. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 6271-6278. ISBN 978-1-4673-6090-6.

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This paper develops a control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs. The result is demonstrated on adaptive cruise control, which presents both safety and performance considerations, as well as actuator bounds. We begin by presenting a novel notion of a barrier function associated with a set, formulated in the context of Lyapunov-like conditions; the existence of a barrier function satisfying these conditions implies forward invariance of the set. This formulation naturally yields a notion of control barrier function (CBF), yielding inequality constraints in the control input that, when satisfied, again imply forward invariance of the set. Through these constructions, CBFs can naturally be unified with control Lyapunov functions (CLFs) in the context of a quadratic program (QP); this allows for the simultaneous achievement of control objectives (represented by CLFs) subject to conditions on the admissible states of the system (represented by CBFs). These formulations are illustrated in the context of adaptive cruise control, where the control objective of achieving a desired speed is balanced by the minimum following conditions on a lead car and force-based constraints on acceleration and braking.

Item Type:Book Section
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URLURL TypeDescription
Ames, Aaron D.0000-0003-0848-3177
Grizzle, Jessy W.0000-0001-7586-0142
Tabuada, Paulo0000-0002-3417-0951
Additional Information:© 2014 IEEE. This research is supported by NSF CPS Awards 1239055, 1239037 and 1239085. The authors would like to thank Huei Peng for the many conversations on ACC, and for suggesting the model and constraints considered in this paper. We would also like to thank the reviewers for their helpful comments.
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Record Number:CaltechAUTHORS:20190208-153602153
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Official Citation:A. D. Ames, J. W. Grizzle and P. Tabuada, "Control barrier function based quadratic programs with application to adaptive cruise control," 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6271-6278. doi: 10.1109/CDC.2014.7040372
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92808
Deposited By: Tony Diaz
Deposited On:10 Feb 2019 23:22
Last Modified:16 Nov 2021 03:53

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