A Safety-Ensured Control Policy Based on Various Control Barrier Functions and Quadratic Programming
Abstract
With the increasing prevalence of autonomous systems, the ways to control them to ensure safety remain a challenge. Control Barrier Functions (CBF) is a newly developed way of ensuring absolute safety. In this project, we explored the topic of CBF in many ways. We did a thorough literature review on the existing CBFs, including Zeroing CBF and Observer Robust CBF. We also deduce the quadratic programming problem using both single integrator and unicycle models. We then derived our definition of the bound function (M_delta) in the ISS observer. Finally, we analyzed the effect of changing bounds and plotted the figures. We conclude that there are a lot of nuances when designing the inequality constraint.
Document Type
Article
Class Name
Electrical and Systems Engineering Undergraduate Research
Language
English (en)
Date of Submission
4-29-2026
Recommended Citation
Wei, Zeyuan, "A Safety-Ensured Control Policy Based on Various Control Barrier Functions and Quadratic Programming" (2026). Electrical and Systems Engineering Undergraduate and Graduate Research. 59.
https://openscholarship.wustl.edu/eseundergraduate_research/59