Related papers: Control Synthesis for Stability and Safety by Diff…
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…
The problem of safely learning and controlling a dynamical system - i.e., of stabilizing an originally (partially) unknown system while ensuring that it does not leave a prescribed 'safe set' - has recently received tremendous attention in…
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…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
We introduce a novel approach for safe control design based on the density function. A control density function (CDF) is introduced to synthesize a safe controller for a nonlinear dynamic system. The CDF can be viewed as a dual to the…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
This paper develops a dissipativity-based framework for synthesis of stabilizing controllers for discrete-time nonlinear systems subject to state/input constraints. Firstly, we revisit dissipation inequalities for discrete-time nonlinear…
This paper addresses the challenge of safe stabilization, ensuring the system state reach the origin while avoiding unsafe regions. Existing approaches relying on smooth Lyapunov barrier functions often fail to guarantee a feasible…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
A DC microgrid is a promising alternative to the traditional AC power grid, since it can efficiently integrate distributed and renewable energy resources. However, as an emerging framework, it lacks the rigorous theoretical guarantees of…
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)…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
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.…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to offer tracking stability using control Lyapunov functions…
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. This paper addresses the open challenges of verifying candidate…