A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions

We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution is obtained through the combination of several ideas. First...

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Hauptverfasser:	Rabiee, Pedram, Hoagg, Jesse B
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Systems and Control
Online-Zugang:	Volltext bestellen
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