Related papers: Robustness of Control Barrier Functions for Safety…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
Neural Lyapunov and barrier certificates have recently been used as powerful tools for verifying the safety and stability properties of deep reinforcement learning (RL) controllers. However, existing methods offer guarantees only under…
This paper establishes the equivalence between robust safety and the existence of a barrier function certificate for differential inclusions. More precisely, for a robustly-safe differential inclusion, a barrier function is constructed as…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main…
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…
We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. This…
Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifying a CBF remains an open question. As such, this paper…
In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…
We prove a robust converse barrier function theorem via the converse Lyapunov theory. While the use of a Lyapunov function as a barrier function is straightforward, the existence of a converse Lyapunov function as a barrier function for a…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…