Related papers: Control-Lyapunov and Control-Barrier Functions bas…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL…
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Control Lyapunov functions (CLFs) play a vital role in modern control applications, but finding them remains a problem. Recently, the control Lyapunov-value function (CLVF) and robust CLVF have been proposed as solutions for nonlinear…
This paper proposes an event-triggered parameterized control method using a control Lyapunov function approach for discrete time linear systems with external disturbances. In this control method, each control input to the plant is a linear…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
This paper presents adaptive robust quadratic program (QP) based control using control Lyapunov and barrier functions for nonlinear systems subject to time-varying and state-dependent uncertainties. An adaptive estimation law is proposed to…
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are powerful tools to ensure safety and stability respectively. However, previous approaches typically…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier…
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties. Reach-while-stay properties specify that the system states…
Executing a Golog program on an actual robot typically requires additional steps to account for hardware or software details of the robot platform, which can be formulated as constraints on the program. Such constraints are often temporal,…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…
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…