Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC

Jan Schilliger; Thomas Lew; Spencer M. Richards; Severin Hanggi; Marco Pavone; Christopher Onder

doi:10.1109/LRA.2021.3111010

Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC

Jan Schilliger, Thomas Lew, Spencer M. Richards, Severin Hanggi, Marco Pavone, Christopher Onder

Research output: Contribution to journal › Article › peer-review

Original language	English
Pages (from-to)	8623-8630
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/LRA.2021.3111010
Publication status	Published - Oct 1 2021
Externally published	Yes

ASJC Scopus Subject Areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

Keywords

control barrier functions
nonlinear model predictive control
Optimization and optimal control
robot safety

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10.1109/LRA.2021.3111010

Cite this

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title = "Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC",

keywords = "control barrier functions, nonlinear model predictive control, Optimization and optimal control, robot safety",

author = "Jan Schilliger and Thomas Lew and Richards, {Spencer M.} and Severin Hanggi and Marco Pavone and Christopher Onder",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2021",

month = oct,

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doi = "10.1109/LRA.2021.3111010",

language = "English",

volume = "6",

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journal = "IEEE Robotics and Automation Letters",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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T1 - Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC

AU - Schilliger, Jan

AU - Lew, Thomas

AU - Richards, Spencer M.

AU - Hanggi, Severin

AU - Pavone, Marco

AU - Onder, Christopher

PY - 2021/10/1

Y1 - 2021/10/1

KW - control barrier functions

KW - nonlinear model predictive control

KW - Optimization and optimal control

KW - robot safety

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U2 - 10.1109/LRA.2021.3111010

DO - 10.1109/LRA.2021.3111010

M3 - Article

AN - SCOPUS:85115149263

SN - 2377-3766

VL - 6

SP - 8623

EP - 8630

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 4

ER -

Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC

ASJC Scopus Subject Areas

Keywords

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