Controllers

ExplicitSafetyFilter <: SafetyFilter

Controller that uses the closed-form solution to a control barrier function quadratic program.

Fields

• k::Function : function that computes safe control actions

ExplicitSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem, kd::Function)

Construct an ExplicitSafetyFilter from a cbf and a desired controller.

ExplicitSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem)

If no desired controller passed in then default it to zero.

QPSafetyFilter <: SafetyFilter

Controller that solves a control barrier function-based quadratic program (CBF-QP).

Uses OSQP to solve the corresponding QP.

Fields

• k::Function : function that computes safe control actions

QPSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem, kd::Function)
QPSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem, kd::Function, umin, umax)

Add ability to pass in single CBF.

QPSafetyFilter(cbfs::Vector{ControlBarrierFunction}, Σ::ControlAffineSystem, kd::Function)

Construct an QPSafetyFilter from a cbf and a desired controller.

TunableQPSafetyFilter <: SafetyFilter

Controller that solves a control barrier function-based quadratic program (CBF-QP) with tunable class K functions.

Uses OSQP to solve the corresponding QP.

Fields

• k::Function : function that computes safe control actions

SmoothSafetyFilter <: SafetyFilter

Smooth controller that approximates CBF-QP arbitrarily closely.

Fields

• formula::String : string indicating formula used in smooth safety filter
• σ::Float64 : smoothing parameter
• k::Function : function that computes safe control actions

ISSfSmoothSafetyFilter <: SafetyFilter

Smooth controller that approximates an input-to-state safe (ISSf) CBF-QP arbitrarily closely.

Fields

• formula::String : string indicating formula used in smooth safety filter
• σ::Float64 : smoothing parameter
• k::Function : function that computes safe control actions
• ε::Float64 : Issf robustness parameter for matched uncertainties