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Control Barrier Functions (CBFs) are utilized to ensure the safety of control systems. CBFs act as safety filters in order to provide safety guarantees without compromising system performance. These safety guarantees rely on the…
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…
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.…
In 1983, Brockett developed a topological necessary condition for the existence of continuous, asymptotically stabilizing control laws. Building upon recent work on necessary conditions for set stabilization, we develop Brockett-like…
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…
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…
Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…
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…
This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data…
Control Barrier Functions (CBFs) are a popular approach for safe control of nonlinear systems. In CBF-based control, the desired safety properties of the system are mapped to nonnegativity of a CBF, and the control input is chosen to ensure…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
Among the promising approaches to enforce safety in control systems, learning Control Barrier Functions (CBFs) from expert demonstrations has emerged as an effective strategy. However, a critical challenge remains: verifying that the…
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…
It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be reduced to a sequence of quadratic programs (QPs) by using…
This paper considers enforcing safety and stability of dynamical systems in the presence of model uncertainty. Safety and stability constraints may be specified using a control barrier function (CBF) and a control Lyapunov function (CLF),…