Related papers: Progressive Barrier Lyapunov Functions for Nonline…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
This paper addresses the challenge of safe stabilization, ensuring the system state reach the origin while avoiding unsafe regions. Existing approaches relying on smooth Lyapunov barrier functions often fail to guarantee a feasible…
A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov-barrier function (CLBF)…
This paper proposes a novel controller framework that provides trajectory tracking for an Aerial Manipulator (AM) while ensuring the safe operation of the system under unknown bounded disturbances. The AM considered here is a 2-DOF…
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…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
A Pontryagin-based approach to solve a class of constrained Nonlinear Model Predictive Control problems is proposed which employs the method of barrier functions for dealing with the state constraints. Unlike the existing works in…
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…
Design and analysis of stabilizing controllers with safety guarantees for nonlinear systems have received considerable attention in recent years. Control Lyapunov-barrier functions (CLBFs) provide a powerful framework for simultaneously…
Barrier Lyapunov functions are suitable for learning control designs, due to their feature of finite duration tracking. This paper presents fractional barrier Lyapunov functions, provided and compared with the conventional ones in the…
This paper studies switching stabilization problems for general switched nonlinear systems. A piecewise smooth control-Lyapunov function (PSCLF) approach is proposed and a constructive way to design a stabilizing switching law is developed.…
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF acts as a pre-stabilizing base controller that enforces state…
Control Lyapunov Functions (CLF) method gives a constructive tool for stabilization of nonlinear systems. To find a CLF, many methods have been proposed in the literature, e.g. backstepping for cascaded systems and sum of squares (SOS)…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a…