Related papers: Compositional Design of Safety Controllers for Lar…
Modern cyber-physical systems often have a two-layered design, where the primary controller is AI-enabled or an analytical controller optimising some specific cost function. If the resulting control action is perceived as unsafe, a…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
This work is concerned with developing a data-driven approach for learning control barrier certificates (CBCs) and associated safety controllers for discrete-time nonlinear polynomial systems with unknown mathematical models, guaranteeing…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…
The control of complex systems faces a trade-off between high performance and safety guarantees, which in particular restricts the application of learning-based methods to safety-critical systems. A recently proposed framework to address…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
We develop a data-driven framework for the synthesis of robust Krasovskii control barrier certificates (RK-CBC) and corresponding robust safety controllers (R-SC) for discrete-time input-affine uncertain polynomial systems with unknown…
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…
This paper develops a framework for synthesizing safety controllers for discrete-time stochastic linear control systems (dt-SLS) operating under communication imperfections. The control unit is remote and communicates with the sensor and…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying barrier certificates for discrete-time,…
Infinite networks are complex interconnected systems comprising a countably infinite number of subsystems, for which no fixed upper bound on the number of participating subsystems is specified a priori since it may vary over time as agents…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
We introduce an automated, formal, counterexample-based approach to synthesise Barrier Certificates (BC) for the safety verification of continuous and hybrid dynamical models. The approach is underpinned by an inductive framework: this is…
This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-squares (SOS) techniques. It is well-known that the SOS…
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…
We present Barrier-based Simplex (Bb-Simplex), a new, provably correct design for runtime assurance of continuous dynamical systems. Bb-Simplex is centered around the Simplex control architecture, which consists of a high-performance…
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under input bounds. In many applications,…