Related papers: Safety-Critical Control of Discontinuous Systems w…
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the system dynamics contain unknown parameters, a finite set 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…
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…
In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Adaptive control has focused on online control of dynamic systems in the presence of parametric uncertainties, with solutions guaranteeing stability and control performance. Safety, a related property to stability, is becoming increasingly…
This paper synthesizes anytime algorithms, in the form of continuous-time dynamical systems, to solve monotone variational inequalities. We introduce three algorithms that solve this problem: the projected monotone flow, the safe monotone…
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…
Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics and a control barrier function…
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…
This paper presents a novel approach for safe control synthesis using the dual formulation of the navigation problem. The main contribution of this paper is in the analytical construction of density functions for almost everywhere…
Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…
In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…