Jorge Cortés

Professor





Universal formula for smooth safe stabilization
P. Ong, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Nice, France, 2019, pp. 2373-2378


Abstract

This paper formulates a safe and stabilizing control state feedback law for a control affine nonlinear system. We assume that there exist a known control Lyapunov function (CLF) and a control barrier function (CBF) that are compatible, i.e., there exists a control choice satisfying the conditions given by both the CLF and CBF at each given state. In contrast to the approach in the literature of finding a minimum-norm control using optimization on the feasible control set, we take a different approach by finding and combining different weighted centroids of the feasible control set. As a result, we can propose a control feedback law with guaranteed smoothness everywhere except at the origin, and with guaranteed continuity at the origin if small control property holds.



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Mechanical and Aerospace Engineering, University of California, San Diego
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