Safety‐critical control for robotic systems with uncertain model via control barrier function

Usually, it is difficult to build accurate dynamic models for real robots, which makes safety‐critical control a challenge. In this regard, this article proposes a double‐level framework to design safety‐critical controller for robotic systems with uncertain dynamics. The high level planner plans a...

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Veröffentlicht in:	International journal of robust and nonlinear control 2023-04, Vol.33 (6), p.3661-3676
Hauptverfasser:	Zhang, Sihua, Zhai, Di‐Hua, Xiong, Yuhan, Lin, Juncheng, Xia, Yuanqing
Format:	Artikel
Sprache:	eng
Schlagworte:	control barrier function Control systems design Dynamic models Gaussian process Gaussian processes Low level Lower bounds Nonlinear control Quadratic programming Robot control robotic system Safety safety‐critical control Uncertainty
Online-Zugang:	Volltext
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