Related papers: High Order Control Lyapunov-Barrier Functions for …
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…
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…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
In this paper we present the implementation of a Control Barrier Function (CBF) using a quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator arm system. CBF is a control technique that has emerged…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high…
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…
Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stability, while subject to input constraints as well as…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on noisy measurements. Our goal is to design controllers that bound…
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state constraints) and controller infeasibility (violation of input…
Safe control in unknown environments is a significant challenge in robotics. While Control Barrier Functions (CBFs) are widely used to guarantee system safety, they often assume known environments with predefined obstacles. The proposed…
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…
Control barrier functions (CBFs) and safety-critical control have seen a rapid increase in popularity in recent years, predominantly applied to systems in aerospace, robotics and neural network controllers. Control barrier functions can…
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…
This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…