What question did this study set out to answer?

Develop a unified control framework combining control barrier functions and control Lyapunov functions within quadratic programs to balance system performance with safety constraints.

December 1, 2014

Control barrier function based quadratic programs with application to adaptive cruise control

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Authors

AAAaron D. AmesCalifornia Institute of Technology JGJessy W. GrizzleUniversity of Michigan PTPaulo TabuadaUniversity of California, Los Angeles

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Implication

Computational study demonstrates unified control Lyapunov and barrier functions via quadratic programs in adaptive cruise control, highlighting guaranteed safety alongside performance objectives.

Key Points

Develop a unified control framework combining control barrier functions and control Lyapunov functions within quadratic programs to balance system performance with safety constraints.
Formulated control barrier functions within Lyapunov-like conditions to guarantee forward invariance of safe operational state sets.
Integrated control barrier functions and control Lyapunov functions as constraints and optimization objectives within a quadratic programming framework.
Evaluated the methodology on an adaptive cruise control system with hard actuator bounds, tracking performance targets, and safety distance limits.
Proved that satisfying control barrier function-derived inequality constraints ensures forward invariance and safety preservation for admissible state sets.
Demonstrated simultaneous tracking of desired cruise velocity and rigorous enforcement of vehicle headway safety constraints under acceleration and braking limits.

Cite This Study

Ames et al. (2014) studied this question.

synapsesocial.com/papers/69d7346c447a5ff6a2b8a4a7 https://doi.org/10.1109/cdc.2014.7040372

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Implication

Computational study demonstrates unified control Lyapunov and barrier functions via quadratic programs in adaptive cruise control, highlighting guaranteed safety alongside performance objectives.

Control barrier function based quadratic programs with application to adaptive cruise control

Discussion

Member takes

Implication

Key Points

Cite This Study

Control barrier function based quadratic programs with application to adaptive cruise control

Discussion

Member takes

Implication

Key Points

Cite This Study

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