Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
<|reference_start|>Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models: 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.<|reference_end|>
@article{cohen2024safety-critical,
    title={Safety-Critical Control for Autonomous Systems: Control Barrier
  Functions via Reduced-Order Models},
    author={Max H. Cohen, Tamas G. Molnar, Aaron D. Ames},
    journal={arXiv preprint arXiv:2403.09865},
    year={2024},
    doi={10.1016/j.arcontrol.2024.100947},
    archivePrefix={arXiv},
    eprint={2403.09865},
    primaryClass={eess.SY cs.RO cs.SY}
}