Related papers: Multi-rate Control Design under Input Constraints …
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
A multirate nonlinear model predictive control (NMPC) strategy is proposed for systems with dynamics and control inputs evolving on different timescales. The proposed multirate formulation of the system model and receding horizon optimal…
Periodic dynamical systems, distinguished by their repetitive behavior over time, are prevalent across various engineering disciplines. In numerous applications, particularly within industrial contexts, the implementation of model…
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces…
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
The need for control strategies that can address dynamic system uncertainty is becoming increasingly important. In this work, we propose a Model Predictive Control by quantifying the risk of failure in our system model. The proposed control…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myopic in the sense that they solve an optimization problem at…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time safety recovery framework for any control-affine nonlinear…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references with arbitrary dynamics. Besides control inputs to be determined, artificial reference is introduced as…
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are…
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We introduce the Universal Barrier Function (UBF), a single…