Related papers: Tunable Input-to-State Safety with Input Constrain…
To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigates the safety of control systems under input disturbances,…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…
This paper presents an adaptive control approach for uncertain nonlinear systems subject to safety constraints that allows for modularity in the selection of the parameter estimation algorithm. Such modularity is achieved by unifying the…
In this paper, we propose a new robustness notion that is applicable for certifying systems' safety with respect to external disturbance signals. The proposed input-to-state safety (ISSf) notion allows us to certify systems' safety in the…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
This paper develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints. In this technique, input-to-state safety (ISSf) is used to characterize how the…
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a variety of forms -- have been used to obtain safety…
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces…
Ensuring string stability is critical for the safety and efficiency of large-scale interconnected systems. Although learning-based controllers (e.g., those based on reinforcement learning) have demonstrated strong performance in complex…
This paper continues the study of the integral input-to-state stability (IISS) property. It is shown that the IISS property is equivalent to one which arises from the consideration of mixed norms on states and inputs, as well as to the…
We consider noisy input/state data collected from an experiment on a polynomial input-affine nonlinear system. Motivated by event-triggered control, we provide data-based conditions for input-to-state stability with respect to measurement…
Input-to-state stability (ISS) allows estimating the impact of inputs and initial conditions on both the intermediate values and the asymptotic bound on the solutions. ISS has unified the input-output and Lyapunov stability theories and is…
Input-to-State Stability (ISS) is fundamental in mathematically quantifying how stability degrades in the presence of bounded disturbances. If a system is ISS, its trajectories will remain bounded, and will converge to a neighborhood of an…
When the state of a system may remain bounded even if both the input amplitude and energy are unbounded, then the state bounds given by the standard input-to-state stability (ISS) and integral-ISS (iISS) properties may provide no useful…
We consider nonlinear control systems of the so-called generalized triangular form (GTF) with time-varying and periodic dynamics which linearly depends on some external disturbances. Our purpose is to construct a feedback controller which…
This paper introduces an approach for synthesizing feasible safety indices to derive safe control laws under state-dependent control spaces. The problem, referred to as Safety Index Synthesis (SIS), is challenging because it requires the…
This paper addresses characterizations of integral input-to-state stability (iISS) for hybrid systems. In particular, we give a Lyapunov characterization of iISS unifying and generalizing the existing theory for pure continuous-time and…