Safety-critical control for autonomous systems: Control barrier functions via reduced-order models
Cohen, Max H. Molnar, Tamas G. Ames, Aaron D.
Cohen, Max H.
Molnar, Tamas G.
Ames, Aaron D.
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2024
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Article
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Keywords
Autonomous systems,Control barrier functions,Reduced-order models,Safety-critical control
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Cohen, M.H., Molnar, T.G., Ames, A.D. Safety-critical control for autonomous systems: Control barrier functions via reduced-order models. (2024). Annual Reviews in Control, 57, art. no. 100947. DOI: 10.1016/j.arcontrol.2024.100947
Abstract
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. © 2024 Elsevier Ltd
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Elsevier Ltd
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Annual Reviews in Control
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1367-5788