Generalizing Robust Control Barrier Functions From a Controller Design Perspective

Generalizing Robust Control Barrier Functions From a Controller Design Perspective

While control barrier functions provide a powerful tool to endow controllers with formal safety guarantees, robust control barrier functions (RCBF) can be used to extend these guarantees for systems with model inaccuracies. This paper presents a generalized RCBF framework that unifies and extends ex...

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Bibliographic Details
Main Authors: Anil Alan, Tamas G. Molnar, Aaron D. Ames, Gabor Orosz
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Open Journal of Control Systems
Subjects:
Control barrier function
model uncertainty
robust safety
safe control
safety filter
Online Access:https://ieeexplore.ieee.org/document/10839547/
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https://ieeexplore.ieee.org/document/10839547/

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