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Paper detail

Integral Control Barrier Functions for Dynamically Defined Control Laws

This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically defined tracking controller, thereby enforcing safety in state and input through a minimally invasive I-CBF controller framed as a quadratic program.

preprint2020arXivOpen access
Aaron D. AmesGennaro NotomistaYorai WardiMagnus Egerstedt
math.OCmath.DS
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Aaron D. AmesGennaro NotomistaYorai WardiMagnus Egerstedt

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