Related papers: Control Barrier Function Based Quadratic Programs …
With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
This paper presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
A common tool in system theory for formulating control laws that achieve local asymptotic stability are Control Lyapunov functions (CLFs), while Control Barrier functions (CBFs) are typically employed to enforce safety constraints.…
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…
Safety has been a critical issue for the deployment of learning-based approaches in real-world applications. To address this issue, control barrier function (CBF) and its variants have attracted extensive attention for safety-critical…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
This paper addresses the safety challenges in impulsive systems, where abrupt state jumps introduce significant complexities into system dynamics. A unified framework is proposed by integrating Quadratic Programming (QP), Control Barrier…
Control barrier functions (CBFs) are a powerful tool for synthesizing safe control actions; however, constructing CBFs remains difficult for general nonlinear systems. In this work, we provide a constructive framework for synthesizing CBFs…
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…