Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators

Control barrier functions (CBFs) are a powerful tool to guarantee safety of autonomous systems, yet they rely on the computation of control invariant sets, which is notoriously difficult. A backup strategy employs an implicit control invariant set computed by forward integrating the system dynamics....

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Veröffentlicht in:	IEEE control systems letters 2021-12, Vol.5 (6), p.2012-2017
Hauptverfasser:	Folkestad, Carl, Chen, Yuxiao, Ames, Aaron D., Burdick, Joel W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Collision avoidance computational methods Computational modeling Data models Dictionaries Robotics Safety Sensitivity supervisory control Trajectory
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