Passivity-Preserving Safety-Critical Control Using Control Barrier Functions

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In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under CBF-based safety-critical control. The results provide an energetic interpretation of safety-critical control schemes, and induce novel passive designs with respect to standard methods based on damping injection. The results are specialised to port-Hamiltonian systems and simulations are performed on a cart-pole system.
Original languageEnglish
Pages (from-to)1742-1747
Number of pages6
JournalIEEE Control Systems Letters
Early online date25 May 2023
Publication statusPublished - 2023


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