Passivity-Preserving Safety-Critical Control using Control Barrier Functions
Fuente:
arXiv
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| Formato: | Preprint |
| Publicado: |
2023
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| _version_ | 1866913234027544576 |
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| author | Califano, Federico |
| author_facet | Califano, Federico |
| contents | In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under CBF-based safety-critical control. The results provide an energetic interpretation of safety-critical control schemes, and induce novel passive designs which are less conservative than standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_10981 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Passivity-Preserving Safety-Critical Control using Control Barrier Functions Califano, Federico Systems and Control In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under CBF-based safety-critical control. The results provide an energetic interpretation of safety-critical control schemes, and induce novel passive designs which are less conservative than standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system. |
| title | Passivity-Preserving Safety-Critical Control using Control Barrier Functions |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2303.10981 |