Year: 2025
Type: preprint
Abstract: 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.
Source: arXiv (Cornell University)
Authors: Freire, Victor, Nicotra, Marco M.
Institution: University of Colorado Boulder
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7090843136
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