Seminar Details
2025-03-03 (14h) : Systematic Design of Control Barrier Function
At Euler building (room A.002)
Speaker :
Marco Nicotra
Abstract :
Control Barrier Functions (CBFs) have become an increasingly popular tool for constrained control due to their simplicity and performance. Despite promising results in many applications, the widespread adoption of CBFs has been limited by the absence of a systematic method for designing CBFs for nonlinear systems with arbitrary state and input constraints.
This talk will provide a brief overview of CBFs and show the dangers of using improper CBFs to enforce constraints. Then, it will draw parallels between CBFs and a different Safety Filter framework known as Reference Governors (RGs). Using existing tools from the RG literature, the talk will introduce a simple and systematic approach for CBF design.