1. Safety-critical control for autonomous systems: Control barrier functions via reduced-order models.
- Author
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Cohen, Max H., Molnar, Tamas G., and Ames, Aaron D.
- Subjects
- *
REDUCED-order models , *MOBILE robots , *AUTONOMOUS robots , *AUTHORSHIP , *ROBOTICS - 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. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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