Related papers: Confidence-Aware Safe and Stable Control of Contro…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
Control Barrier Functions (CBFs) allow for efficient synthesis of controllers to maintain desired invariant properties of safety-critical systems. However, the problem of identifying a CBF remains an open question. As such, this paper…
Control Barrier Functions (CBFs) have proven to be an effective tool for performing safe control synthesis for nonlinear systems. However, guaranteeing safety in the presence of disturbances and input constraints for high relative degree…
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
This paper addresses the challenge of synthesizing safety-critical controllers for high-order nonlinear systems, where constructing valid Control Barrier Functions (CBFs) remains computationally intractable. Leveraging layered control, we…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
Ensuring safe exploration in high-dimensional systems with unknown dynamics remains a significant challenge. Existing safe reinforcement learning methods often provide safety guarantees only in expectation, which can still lead to safety…
Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
The objective of this document is to design continuous feedback controls for global asymptotic stabilization (GAS) of affine systems, with control restricted to a compact and convex set (CVS). This stabilization problem is solved based on a…
Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for…
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
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.…
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 Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model,…
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zero sublevel sets of CBFs are CI sets. However, computing CBFs…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…