Related papers: Synthesis of Control Barrier Functions Using a Sup…
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…
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…
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…
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…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
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…
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…
Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…
Control barrier functions are a popular method of ensuring system safety, and these functions can be used to enforce invariance of a set under the dynamics of a system. A control barrier function must have certain properties, and one must…
The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…
Barrier functions are a general framework for establishing a safety guarantee for a system. However, there is no general method for finding these functions. To address this shortcoming, recent approaches use self-supervised learning…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data. In particular, we assume a setting in which the…
In this work, we propose a compositional framework for the construction of control barrier functions for networks of continuous-time stochastic hybrid systems enforcing complex logic specifications expressed by finite-state automata. The…