Related papers: Backup Control Barrier Functions: Formulation and …
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic cost and satisfying state and control constraints can be…
Control barrier functions (CBFs) have been demonstrated as an effective method for safety-critical control of autonomous systems. Although CBFs are simple to deploy, their design remains challenging, motivating the development of…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
Control Barrier Functions (CBFs) have become powerful tools for ensuring safety in nonlinear systems. However, finding valid CBFs that guarantee persistent safety and feasibility remains an open challenge, especially in systems with input…
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific…
Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
Differential-algebraic equations (DAEs) arise in power networks, chemical processes, and multibody systems, where algebraic constraints encode physical conservation laws. The safety of such systems is critical, yet safe control is…
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…
Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. However, using CBFs requires the construction of a valid CBF,…
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…
Inspired by the success of control barrier functions (CBFs) in addressing safety, and the rise of data-driven techniques for modeling functions, we propose a non-parametric approach for online synthesis of CBFs using Gaussian Processes…
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…
It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control…
Input delays affect systems such as teleoperation and wirelessly autonomous connected vehicles, and may lead to safety violations. One promising way to ensure safety in the presence of delay is to employ control barrier functions (CBFs),…
The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open…
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…