Related papers: Modified Control Barrier Function for Quadratic Pr…
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…
We propose a novel approach to certify closed-loop stability and safety of a constrained polynomial system based on the combination of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). For polynomial systems that are…
Control barrier functions (CBFs) have become a popular tool to enforce safety of a control system. CBFs are commonly utilized in a quadratic program formulation (CBF-QP) as safety-critical constraints. A class $\mathcal{K}$ function in CBFs…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and…
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…
This paper investigates the control barrier function (CBF) based safety-critical control for continuous nonlinear control affine systems using the more efficient online algorithms through time-varying optimization. The idea lies in that…
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…
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…
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…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced to quadratic programs (QP) by using control barrier functions…
This paper addresses the problem of safety-critical control for non-affine control systems. It has been shown that optimizing quadratic costs subject to state and control constraints can be sub-optimally reduced to a sequence of quadratic…
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…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach for synthesizing any number of candidate CBFs into one…
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…