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arXiv · 2006.16936

Integral Control Barrier Functions for Dynamically Defined Control Laws

Aaron D. Ames·Gennaro Notomista·Yorai Wardi·Magnus Egerstedt
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Abstract

This paper 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.

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Aaron D. Ames, Gennaro Notomista, Yorai Wardi, Magnus Egerstedt. 2020-06-30. Integral Control Barrier Functions for Dynamically Defined Control Laws. https://arxiv.org/abs/2006.16936

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