Related papers: Robust Safe Control Synthesis with Disturbance Obs…
Control Lyapunov Functions (CLF) method gives a constructive tool for stabilization of nonlinear systems. To find a CLF, many methods have been proposed in the literature, e.g. backstepping for cascaded systems and sum of squares (SOS)…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of the resulting closed-loop…
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,…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and…
Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…
In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
This paper focuses on safety filters designed based on Control Barrier Functions (CBFs): these are modifications of a nominal stabilizing controller typically utilized in safety-critical control applications to render a given subset of…
A common tool in system theory for formulating control laws that achieve local asymptotic stability are Control Lyapunov functions (CLFs), while Control Barrier functions (CBFs) are typically employed to enforce safety constraints.…
This paper presents an adaptive control approach for uncertain nonlinear systems subject to safety constraints that allows for modularity in the selection of the parameter estimation algorithm. Such modularity is achieved by unifying the…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be caused by input delays or unmodeled input dynamics. Existing…
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…
This paper presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perception information regarding the safe set is periodically…
This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs subject to state and…