Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models

Abstract

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.

arXiv commentTo appear in Annual Reviews in Control

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Cited by in corpus (11)

• Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
• Rectified Control Barrier Functions for High-Order Safety Constraints
• Constant-Sum High-Order Barrier Functions for Safety Between Parallel Boundaries
• Disturbance Observer-Parameterized Control Barrier Function with Adaptive Safety Bounds
• Control Barrier Functions for Shared Control and Vehicle Safety
• Distributed Risk-Sensitive Safety Filters for Uncertain Discrete-Time Systems
• Proxy Control Barrier Functions: Integrating Barrier-Based and Lyapunov-Based Safety-Critical Control Design
• Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
• Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles
• SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics
• Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots