Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function

Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function

This paper presents a safe control applied to a reaction wheel pendulum, assuring that the system satisfies stability objectives and safety constraints. Safety constraints are specified in terms of a set invariance and verified through control barrier functions (CBFs). The existence of a CBF satisfy...

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Bibliographic Details
Main Authors: Caio Igor Goncalves Chinelato, Gabriel Pereira Das Neves, Bruno Augusto Angelico
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Control barrier function
optimal control
quadratic programming
reaction wheel pendulum
safety
Online Access:https://ieeexplore.ieee.org/document/9174709/

Internet

https://ieeexplore.ieee.org/document/9174709/

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