2021
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC
Jan Schilliger, Thomas Lew, Spencer M. Richards, Severin Hänggi, Marco Pavone, Christopher Harald Onder
RA-L 2021
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible in an online fashion. This letter presents two tractable algorithms to ensure forward invariance