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This letter presents a nonlinear disturbance observer-parameterized control barrier function (DOp-CBF) designed for a robust safety control system under external disturbances. This framework emphasizes that the safety bounds are relevant to…
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation…
Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…
With the increasing complexity of real-world systems and varying environmental uncertainties, it is difficult to build an accurate dynamic model, which poses challenges especially for safety-critical control. In this paper, a learning-based…
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are powerful tools to ensure safety and stability respectively. However, previous approaches typically…
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…
Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an online finite-horizon optimal control problem that…
The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical…
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 a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume global availability of the safety function - its value and…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and constraints have the potential to mitigate these challenges. In…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach for synthesizing any number of candidate CBFs into one…
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…
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…
Safety-critical control is imperative for deploying autonomous systems in the real world. Control Barrier Functions (CBFs) offer strong safety guarantees when accurate system and sensor models are available. However, widely used additive,…