# Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs

arXiv: https://arxiv.org/abs/2001.07547 · HTML: https://mlsanity.com/paper/2001.07547/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Jan 2020.

## Built on by (most cited first, 1 of 1)

- [Bridging Discrete Planning and Continuous Execution for Redundant Robot](https://mlsanity.com/paper/2604.02021/) (2026)

## Abstract (arXiv)

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method guarantees strict priority among different groups of tasks such as safety-related, operational and optimization tasks. Moreover, a soft priority measure in the form of penalty parameters can be employed to prioritize tasks at the same priority level. As opposed to kinematic control schemes, the proposed framework is a holistic approach to control of redundant robotic systems, which solves the redundancy resolution, dynamic control and control allocation problems simultaneously. Numerical simulations of a hyper-redundant articulated intervention autonomous underwater vehicle (AIAUV) is presented to validate the proposed framework.