Related papers: Guaranteed Safe Spacecraft Docking with Control Ba…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
This paper presents a proposed method of autonomous control for docking tasks of a single-seat personal mobility vehicle. We proposed a non-linear model predictive control (NMPC) based visual servoing to achieves the desired autonomous…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
We study stochastic systems characterized by difference inclusions. Such stochastic differential inclusions are defined by set-valued maps involving the current state and stochastic input. For such systems, we investigate the problem of…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…