Related papers: Robust Control Lyapunov-Value Functions for Nonlin…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…
We offer a compositional data-driven scheme for synthesizing controllers that ensure global asymptotic stability (GAS) across large-scale interconnected networks, characterized by unknown mathematical models. In light of each network's…
In this technical note, we generalize the well-known Lyapunov-based stabilizability and detectability tests for linear time-invariant (LTI) systems to the context of discrete-time (DT) polytopic linear parameter-varying (LPV) systems. To do…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
Control barrier functions (CBFs) provide a theoretical foundation for safety-critical control in robotic systems. However, most existing methods rely on explicit analytical expressions of unsafe state regions, which are often impractical…
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear…
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…
Control Lyapunov functions are traditionally used to design a controller which ensures convergence to a desired state, yet deriving these functions for nonlinear systems remains a complex challenge. This paper presents a novel,…
Stability analysis of switched systems, characterized by multiple operational modes and switching signals, is challenging due to their nonlinear dynamics. While frameworks such as multiple Lyapunov functions (MLF) provide a foundation for…
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…
Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it…
Transient stability of power systems is becoming increasingly important because of the growing integration of renewable resources. These resources lead to a reduction in mechanical inertia but also provide increased flexibility in frequency…
In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic environments. We formulate the control synthesis problem as an…
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…
Performance analysis for linear time-invariant (LTI) systems has been closely tied to quadratic Lyapunov functions ever since it was shown that LTI system stability is equivalent to the existence of such a Lyapunov function. Some metrics…
A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i.e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems. The results are dependent on an…
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…
Control barrier functions (CBFs) have recently been introduced as a systematic tool to ensure safety by establishing set invariance. When combined with a control Lyapunov function (CLF), they form a safety-critical control mechanism.…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…