A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems

doi:10.1109/JAS.2023.123075

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	A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems
	Boqian Li; Shiping Wen; Zheng Yan; Guanghui Wen; Tingwen Huang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2023
卷号	10 期号:3 页码:584-602
摘要	This survey provides a brief overview on the control Lyapunov function (CLF) and control barrier function (CBF) for general nonlinear-affine control systems. The problem of control is formulated as an optimization problem where the optimal control policy is derived by solving a constrained quadratic programming (QP) problem. The CLF and CBF respectively characterize the stability objective and the safety objective for the nonlinear control systems. These objectives imply important properties including controllability, convergence, and robustness of control problems. Under this framework, optimal control corresponds to the minimal solution to a constrained QP problem. When uncertainties are explicitly considered, the setting of the CLF and CBF is proposed to study the input-to-state stability and input-to-state safety and to analyze the effect of disturbances. The recent theoretic progress and novel applications of CLF and CBF are systematically reviewed and discussed in this paper. Finally, we provide research directions that are significant for the advance of knowledge in this area.
关键词	Control barrier function (CBF) control Lyapunov function (CLF) nonlinear-affine control systems
DOI	10.1109/JAS.2023.123075
引用统计	被引频次：5[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51175
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Boqian Li,Shiping Wen,Zheng Yan,et al. A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):584-602.
APA	Boqian Li,Shiping Wen,Zheng Yan,Guanghui Wen,&Tingwen Huang.(2023).A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems.IEEE/CAA Journal of Automatica Sinica,10(3),584-602.
MLA	Boqian Li,et al."A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems".IEEE/CAA Journal of Automatica Sinica 10.3(2023):584-602.

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