Related papers: Control-Lyapunov and Control-Barrier Functions bas…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…
Temporal logic has been widely used to express complex task specifications for cyber-physical systems (CPSs). One way to synthesize a controller for CPS under temporal logic constraints is to first abstract the CPS as a discrete transition…
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…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
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…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original system, making control design…
This paper presents a synthesis approach aiming to guarantee a minimum upper-bound for the time taken to reach a target set of non-zero measure that encompasses the origin, while taking into account uncertainties and input and state…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
In this paper, we study the effect of non-vanishing disturbances on the stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, which allows a positive term in the time derivative of the Lyapunov function with the…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
This paper addresses the co-design problem of control inputs and execution decisions for event- and self-triggered controls subject to constraints given by the control Lyapunov function and control barrier function. The proposed approach…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
This paper presents a new method for synthesizing stochastic control Lyapunov functions for a class of nonlinear stochastic control systems. The technique relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman partial…