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• W3048342679 abstract "Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at each time step rather than over a long time horizon. This approach may allow a system to get too close to the unsafe set where the optimization problem can become infeasible. Some of these issues can be mitigated by introducing relaxation variables into the optimization problem; however, this compromises convergence to the desired equilibrium point. To address these challenges, we develop an approximate optimal approach to the safety-critical control problem in which the cost of violating safety constraints is directly embedded within the value function. We show that our method is capable of guaranteeing both safety and convergence to a desired equilibrium. Finally, we compare the performance of our method with that of the traditional quadratic programming approach through numerical examples." @default.
• W3048342679 created "2020-08-13" @default.
• W3048342679 creator A5054992701 @default.
• W3048342679 creator A5086742095 @default.
• W3048342679 date "2020-08-10" @default.
• W3048342679 modified "2023-09-27" @default.
• W3048342679 title "Approximate Optimal Control for Safety-Critical Systems with Control Barrier Functions" @default.
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• W3048342679 hasPublicationYear "2020" @default.
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