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.
@article{arxiv.2403.09865,
title = {Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models},
author = {Max H. Cohen and Tamas G. Molnar and Aaron D. Ames},
journal= {arXiv preprint arXiv:2403.09865},
year = {2024}
}