Related papers: Tunable Input-to-State Safety with Input Constrain…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynamics. Leveraging the concept of dwell time, we derive…
Environmental noise (e.g.heat, ionized particles, etc.) causes transient faults in hardware, which lead to corruption of stored values. Mission-critical devices require such faults to be mitigated by fault-tolerance --- a combination of…
Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed trajectory. In this paper, we introduce a related stability…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…
Incremental input-to-state stability (delta-ISS) offers a robust framework to ensure that small input variations result in proportionally minor deviations in the state of a nonlinear system. This property is essential in practical…
Multi-objective safety-critical control entails a diligent design to avoid possibly conflicting scenarios and ensure safety. This paper addresses multi-objective safety-critical control through a novel approach utilizing barrier states…
We investigate the gain margin of a general nonlinear system under an inverse optimal input-to-state safe (ISSf) controller of the form u=u0(x)+u*(x,u0), where u0 is the nominal control and u* is the inverse optimal safety filter that…
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds…
For large classes of infinite-dimensional time-varying control systems, the equivalence between integral input-to-state stability (iISS) and the combination of global uniform asymptotic stability under zero input (0-GUAS) and uniformly…
Digital controller design for nonlinear systems may be complicated by the fact that an exact discrete-time plant model is not known. One existing approach employs approximate discrete-time models for stability analysis and control design,…
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.…
Input-to-state stability (ISS) unifies global asymptotic stability with respect to variations of initial conditions with robustness with respect to external disturbances. First, we present Lyapunov characterizations for input-to-state…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
A nonovershooting finite-time control design for linear multi-input system is proposed by upgrading a linear (asymptotic) nonovershooting stabilizer to a homogeneous one. Robustness of the safety and stability properties is analyzed using…
The aggressive integration of distributed renewable sources is changing the dynamics of the electric power grid in an unexpected manner. As a result, maintaining conventional performance specifications, such as transient stability, may not…
In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we first construct a governing augmented state space model…
Sontag's universal formula is a widely used technique for stabilizing control through control Lyapunov functions. Recently, it has been extended to address safety-critical control by incorporating control barrier functions (CBFs). However,…