Control Barrier Functions

ControlBarrierFunction

Control barrier function (CBF) defining a safe set as its zero superlevel set.

Fields

• h::Function : function defining the safe set h(x) ≥ 0
• α::Function : extended class K function a(h(x)) for CBF
• ∇h::Function : gradient of CBF
• Lfh::Function : Lie derivative of CBF along drift vector field f
• Lgh::Function : Lie derivative of CBF along control directions g

ControlBarrierFunction(h::Function, Σ::ControlAffineSystem, α::Function)

Construct a CBF from a function h, a control affine system Σ, and an extended class K function α.

ControlBarrierFunction(h::Function, Σ::ControlAffineSystem)

If no extended class K function provided, default to the identify function.