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On the undesired equilibria induced by control barrier function based quadratic programs
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-6012-2761
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 159, article id 111359Article in journal (Refereed) Published
Abstract [en]

In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and locations of possible equilibrium points of the closedloop system and also provide analytical results on how design parameters affect them. Based on this analysis, a simple modification on the existing quadratic program-based controller is provided, which, without any assumptions other than those taken in the original program, inherits the safety set forward invariance property, and further guarantees the complete elimination of undesired equilibrium points in the interior of the safety set as well as one type of boundary equilibrium points, and local asymptotic stability of the origin. Numerical examples are given alongside the theoretical discussions.

Place, publisher, year, edition, pages
Elsevier BV , 2024. Vol. 159, article id 111359
Keywords [en]
Control barrier functions, Lyapunov method, Nonlinear analysis
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-340435DOI: 10.1016/j.automatica.2023.111359ISI: 001102733800001Scopus ID: 2-s2.0-85174902432OAI: oai:DiVA.org:kth-340435DiVA, id: diva2:1817222
Note

QC 20231205

Available from: 2023-12-05 Created: 2023-12-05 Last updated: 2023-12-05Bibliographically approved

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Tan, XiaoDimarogonas, Dimos V.

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CiteExportLink to record
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  • apa
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  • nn-NO
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Output format
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