Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866913508466098176 |
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| author | Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. |
| author_facet | Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. |
| contents | Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_09865 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models Cohen, Max H. Molnar, Tamas G. Ames, Aaron D. Systems and Control Robotics Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied. |
| title | Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2403.09865 |