Stabilization of Nonlinear Systems through Control Barrier Functions
Optimization and Control
2024-08-19 v1 Systems and Control
Systems and Control
Abstract
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe set. By leveraging a nonsmooth version of control barrier functions (CBFs) and a weaker notion of CLF, we develop a control design that forces the system to converge to and remain in the region where the CLF decrease condition is feasible. We characterize the conditions under which our controller asymptotically stabilizes the origin or a small neighborhood around it, even in the cases where it is discontinuous. We illustrate our design in various examples.
Cite
@article{arxiv.2408.08398,
title = {Stabilization of Nonlinear Systems through Control Barrier Functions},
author = {Pol Mestres and Kehan Long and Melvin Leok and Nikolay Atanasov and Jorge Cortes},
journal= {arXiv preprint arXiv:2408.08398},
year = {2024}
}