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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2408.09534 |
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| _version_ | 1866909613599752192 |
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| author | Deng, Yaosheng Bai, Yang Wang, Yujie Ogura, Masaki Feroskhan, Mir |
| author_facet | Deng, Yaosheng Bai, Yang Wang, Yujie Ogura, Masaki Feroskhan, Mir |
| contents | In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the original system into an augmented one, thus reformulating the constrained-input problem into a constrained-output one. This transformation simplifies the Quadratic Programming (QP) formulation and enhances compatibility with the CBF framework. As a result, the proposed method can systematically address the complex, time-varying, and state-dependent input constraints. The efficacy of the proposed approach is validated using numerical examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_09534 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safety Critical Control for Nonlinear Systems with Complex Input Constraints Deng, Yaosheng Bai, Yang Wang, Yujie Ogura, Masaki Feroskhan, Mir Systems and Control In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the original system into an augmented one, thus reformulating the constrained-input problem into a constrained-output one. This transformation simplifies the Quadratic Programming (QP) formulation and enhances compatibility with the CBF framework. As a result, the proposed method can systematically address the complex, time-varying, and state-dependent input constraints. The efficacy of the proposed approach is validated using numerical examples. |
| title | Safety Critical Control for Nonlinear Systems with Complex Input Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2408.09534 |