Designing Control Barrier Functions Using a Dynamic Backup Policy
For control engineers, it provides a systematic way to design safety-critical controllers for nonlinear systems with constraints, though the method is demonstrated only on a simple example.
This paper presents a systematic method to construct control barrier functions for nonlinear control affine systems with arbitrary state and input constraints, using a family of backup policies parametrized by the equilibrium manifold. The method is demonstrated on an inverted pendulum on a cart.
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspiration from the reference governor literature, the proposed method defines a family of backup policies, parametrized by the equilibrium manifold of the system. The control barrier function is defined on the augmented state-and-reference space: given a state-reference pair, the approach quantifies the distance to constraint violation at any time in the future. The proposed method is applied to an inverted pendulum on cart.