Related papers: Safe Control Synthesis for Multicopter via Control…

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…

This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…

This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…

We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…

This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…

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 presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…

This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints. The proposed methodology brings together concepts such as…

The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…

This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…

As the airspace becomes increasingly congested, decentralized conflict resolution methods for airplane encounters have become essential. While decentralized safety controllers can prevent dangerous midair collisions, they do not always…

This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified,…

We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical systems. We propose a two-layer architecture, where the high-level…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of…

In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…

This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time safety recovery framework for any control-affine nonlinear…

We propose an adversarial, time-varying test-synthesis procedure for safety-critical systems without requiring specific knowledge of the underlying controller steering the system. From a broader test and evaluation context, determination of…