@inproceedings{8151fec5c2334a3cafee30c061793488,
title = "Multi-Layered Safety-Critical Control Design for Robotic Systems via Control Barrier Functions",
abstract = "To satisfy the safety constraints, this paper proposes a multi-layered safety-critical control framework for robotic systems based on control barrier functions (CBFs), which is composed of the safe kinematic control layer and the inverse dynamics control layer. Both layers incorporate the CBF constraints to ensure safety, and the corresponding quadratic programs (QPs) are formulated. Through real-time optimization control, the robot can satisfy the safety constraints while tracking the desired trajectory. The proposed method is validated on the two-link planar manipulator with trajectory tracking and obstacle avoidance tasks.",
keywords = "Control Barrier Functions, Multi-Layered Control, Robotic Systems, Safety-Critical Control",
author = "Yuhan Xiong and Zhai, {Di Hua} and Sihua Zhang and Yuanqing Xia",
note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Control Theory, Chinese Association of Automation.; 41st Chinese Control Conference, CCC 2022 ; Conference date: 25-07-2022 Through 27-07-2022",
year = "2022",
doi = "10.23919/CCC55666.2022.9902232",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3674--3679",
editor = "Zhijun Li and Jian Sun",
booktitle = "Proceedings of the 41st Chinese Control Conference, CCC 2022",
address = "United States",
}