Related papers: Quadratic Programming Approach to Flight Envelope …
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined…
Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of…
This paper addresses the target-pursuit problem, aiming to ensure each pursuer's safety regarding collision avoidance, sensing range, and input saturation. An input-constrained CBF is proposed to dynamically regulate the pursuer's control,…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…
This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in…
Industrial control applications require high performance under strict constraints. Control barrier functions (CBFs) provide principled safety mechanisms, but constructing CBF-based safety filters for large-scale systems is challenging. We…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
We present a dual-barrier control barrier function (CBF) safety filter for real-time, safety-critical velocity control of holonomic robots operating in incrementally built occupancy grid maps. As a robot explores an unknown environment,…
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained…
Encrypted control enables confidential controller evaluations in cloud-based or networked control systems. From a technical point of view, an encrypted controller is a modified control algorithm that is capable of computing encrypted…
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 proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
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 fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning…
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…
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a set of relative-pose constraints, which may include…
The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based approaches have been highly effective in synthesizing…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…