Related papers: Hybrid Lyapunov and Barrier Function-Based Control…
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…
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…
Control Lyapunov functions (CLFs) and Control Barrier Functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs). This framework guarantees safety in the form of trajectory invariance with…
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…
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 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…
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…
Ensuring liveness and safety of autonomous and cyber-physical systems remains a fundamental challenge, particularly when multiple safety constraints are present. This letter advances the theoretical foundations of safety-filter Quadratic…
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to offer tracking stability using control Lyapunov functions…
Adaptive Control Lyapunov Functions (aCLFs) were introduced 20 years ago, and provided a Lyapunov-based methodology for stabilizing systems with parameter uncertainty. The goal of this paper is to revisit this classic formulation in the…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control barrier function (CBF), where the desired equilibrium lies in…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier…
A common tool in system theory for formulating control laws that achieve local asymptotic stability are Control Lyapunov functions (CLFs), while Control Barrier functions (CBFs) are typically employed to enforce safety constraints.…
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of control barrier and control Lyapunov…
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…
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…
The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs),…
A combination of control Lyapunov functions (CLFs) and control barrier functions (CBFs) forms an efficient framework for addressing control challenges in safe stabilization. In our previous research, we developed an analytical control…