Related papers: Progressive Barrier Lyapunov Functions for Nonline…
This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible…
To address feasibility issues in model predictive control (MPC), most implementations relax state constraints by using slack variables and adding a penalty to the cost. We propose an alternative strategy: relaxing the initial state…
We propose the first generalization of Sontag s universal controller to systems not affine in the control, particularly, to PDEs with boundary actuation. We assume that the system admits a control Lyapunov function (CLF) whose derivative,…
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 Lyapunov functions (CLFs) play a vital role in modern control applications, but finding them remains a problem. Recently, the control Lyapunov-value function (CLVF) and robust CLVF have been proposed as solutions for nonlinear…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…
The paper deals with output feedback stabilization of exponentially stable systems by an integral controller. We propose appropriate Lyapunov functionals to prove exponential stability of the closed-loop system. An example of parabolic PDE…
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…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
Polyhedral control Lyapunov functions (PCLFs) are exploited in finite-horizon linear model predictive control formulations in order to guarantee the maximal domain of attraction (DoA), in contrast to traditional formulations based on…
We present an optimisation-based approach to ensure robust asymptotic stability stability of a desired set in the state space of nonlinear dynamical systems, while optimising a general control objective. The approach relies on the decrease…
Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events…
Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
In this work, we consider the problem of designing a safety filter for a nonlinear uncertain control system. Our goal is to augment an arbitrary controller with a safety filter such that the overall closed-loop system is guaranteed to stay…
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…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…
In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability…