Related papers: Proxy Control Barrier Functions: Integrating Barri…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) using…
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…
The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control…
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…
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…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
The existing control barrier function literature generally relies on precise mathematical models to guarantee system safety, limiting their applicability in scenarios with parametric uncertainties. While incremental control techniques have…
Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…
This paper presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy…
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…
This paper addresses the challenge of synthesizing safety-critical controllers for high-order nonlinear systems, where constructing valid Control Barrier Functions (CBFs) remains computationally intractable. Leveraging layered control, we…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
Safety filters based on control barrier functions (CBFs) have become a popular method to guarantee safety for uncertified control policies, e.g., as resulting from reinforcement learning. Here, safety is defined as staying in a pre-defined…
Safety-critical control systems, such as spacecraft performing proximity operations, must provide formal safety guarantees despite stochastic uncertainties from state estimation and unmodeled dynamics. Although Control Barrier Functions…
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…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…
Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. However, using CBFs requires the construction of a valid CBF,…