Related papers: Guaranteed Safe Spacecraft Docking with Control Ba…
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…
In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
We present an algorithm to perform fuel-optimal stationkeeping for spacecraft in unstable halo orbits with additional constraints to ensure safety in the event of a control failure. We formulate a convex trajectory-optimization problem to…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
A disjunctive sensing and actuation problem is considered in which the actuators and sensors are prevented from operating together over any given time step. This problem is motivated by practical applications in the area of spacecraft…
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits the system's ability to generate forces and torques in…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…
This paper introduces a novel control strategy for agile spacecraft attitude control, addressing reaction wheel-related input and state constraints. An optimal-decay control Lyapunov function quadratic program stabilizes the system and…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…
This work establishes a crucial step toward advancing data-driven trajectory-based methods for stochastic systems with unknown mathematical dynamics. In contrast to scenario-based approaches that rely on independent and identically…
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The…
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…
Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded quadratic programming control (SPQC) for safe trajectory…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…