Passivity-Preserving Safety-Critical Control using Control Barrier Functions
Systems and Control
2024-02-15 v3 Systems and Control
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 which are less conservative than standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system.
Cite
@article{arxiv.2303.10981,
title = {Passivity-Preserving Safety-Critical Control using Control Barrier Functions},
author = {Federico Califano},
journal= {arXiv preprint arXiv:2303.10981},
year = {2024}
}