UC San Diego

Control Lyapunov functions and barrier functions have been successfully applied to control the motion of robotic systems as a means to ensure safety and performance. This study aims at constructing a new approach to the problem of simultaneous lane-keeping and adaptive speed control problem of a robotic system, and a modified Lyapunov function and barrier setup are also proposed that fits this problem more naturally than the ones available in the main literature.

Under the new setup, it is possible to offer guarantees of convergence as well as to explicitly calculate the solution of the associated quadratic program used to determine the control input. At last, a few examples are provided to illustrate the results, showing how different control strategies affect the performance of the robot system.