Related papers: Safety Critical Control for Nonlinear Systems with…
Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…
Safety constraints of nonlinear control systems are commonly enforced through the use of control barrier functions (CBFs). Uncertainties in the dynamic model can disrupt forward invariance guarantees or cause the state to be restricted to…
In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we first construct a governing augmented state space model…
Industrial control applications require high performance under strict constraints. Control barrier functions (CBFs) provide principled safety mechanisms, but constructing CBF-based safety filters for large-scale systems is challenging. We…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form structure in the dynamics (e.g.,…
Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. However, the…
This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach…
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…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…
This paper presents an adaptive control approach for uncertain nonlinear systems subject to safety constraints that allows for modularity in the selection of the parameter estimation algorithm. Such modularity is achieved by unifying the…
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs encode a system's dynamic capabilities relative to a state…
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…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
Guaranteeing safety for robotic and autonomous systems in real-world environments is a challenging task that requires the mitigation of stochastic uncertainties. Control barrier functions have, in recent years, been widely used for…
We consider the problem of synthesis of safe controllers for nonlinear systems with unknown dynamics using Control Barrier Functions (CBF). We utilize Koopman operator theory (KOT) to associate the (unknown) nonlinear system with a higher…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability…