Abstract
In this chapter, we present a hierarchical, two-step procedure that combines traditional optimal control and CBF methods to achieve both optimality and guaranteed safety in real-time control. The key idea is to first generate trajectories by solving a tractable optimal control problem and then track these trajectories using a controller that simultaneously ensures that all state and control constraints are satisfied at all times. We call the result of this two-step process Optimal control with Control Barrier Functions (OCBF) . In Sect. 8.1, we formulate a general class of constrained optimal control problems and outline the OCBF approach. In Sect. 8.2, we detail the OCBF solution approach, including the possibility of noise in the system dynamics.
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© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
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Xiao, W., Cassandras, C.G., Belta, C. (2023). Hierarchical Optimal Control with Barrier Functions. In: Safe Autonomy with Control Barrier Functions. Synthesis Lectures on Computer Science. Springer, Cham. https://doi.org/10.1007/978-3-031-27576-0_8
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DOI: https://doi.org/10.1007/978-3-031-27576-0_8
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Publisher Name: Springer, Cham
Print ISBN: 978-3-031-27575-3
Online ISBN: 978-3-031-27576-0
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