Integral Control Barrier Functions for Dynamically Defined Control Laws

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 the...

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Bibliographic Details
Published in:IEEE control systems letters 2021-07, Vol.5 (3), p.887-892
Main Authors: Ames, Aaron D., Notomista, Gennaro, Wardi, Yorai, Egerstedt, Magnus
Format: Article
Language:English
Subjects:
Closed loop systems
Constrained control
control system architecture
Integral equations
Newton method
Nonlinear systems
output regulation
Real-time systems
Safety
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Summary: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.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2020.3006764