Passivity-Preserving Safety-Critical Control Using Control Barrier Functions

Authors

Federico Califano

Abstract

In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under CBF-based safety-critical control. The results provide an energetic interpretation of safety-critical control schemes, and induce novel passive designs with respect to standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system.

Citation

• Journal: IEEE Control Systems Letters
• Year: 2023
• Volume: 7
• Issue:
• Pages: 1742–1747
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/lcsys.2023.3280082

BibTeX

@article{Califano_2023,
  title={{Passivity-Preserving Safety-Critical Control Using Control Barrier Functions}},
  volume={7},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2023.3280082},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Califano, Federico},
  year={2023},
  pages={1742--1747}
}

Download the bib file

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