Related papers: Tunable Input-to-State Safety with Input Constrain…
In a pedagogical but exhaustive manner, this survey reviews the main results on input-to-state stability (ISS) for infinite-dimensional systems. This property allows estimating the impact of inputs and initial conditions on both the…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
We study singularly perturbed systems that exhibit input-to-state stability (ISS) with fixed-time properties in the presence of bounded disturbances. In these systems, solutions converge to the origin within a time frame independent of…
Distributed Parameter Systems (DPSs), modelled by partial differential equations (PDEs), are increasingly vulnerable to disturbances arising from various sources. Although detection of disturbances in PDE systems have received considerable…
We revisit the problem explored in [1] of guaranteeing satisfaction of multiple simultaneous state constraints applied to a single-input, single-output plant consisting of a chain of n integrators subject to input limitations. For this…
Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the…
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…
In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree one, while High-Order CBF (HOCBF) methods address higher…
We develop tools for investigation of input-to-state stability (ISS) of infinite-dimensional control systems. We show that for certain classes of admissible inputs the existence of an ISS-Lyapunov function implies the input-to-state…
We prove that (local) input-to-state stability ((L)ISS) and integral input-to-state stability (iISS) of time-varying infinite-dimensional systems in abstract spaces follows from the existence of a {corresponding} Lyapunov function. In…
Since the concept of input-to-state stability (ISS) was introduced, it has been extensively investigated for finite-dimensional control systems and has recently received attention for infinite-dimensional systems. While numerical techniques…
In this paper we seek to quantify the ability of learning to improve safety guarantees endowed by Control Barrier Functions (CBFs). In particular, we investigate how model uncertainty in the time derivative of a CBF can be reduced via…
It is shown that impulsive systems of nonlinear, time-varying and/or switched form that allow a stable global state weak linearization are jointly input-to-state stable (ISS) under small inputs and integral ISS (iISS). The system is said to…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
In this paper, we study input-to-state stability (ISS) of an equilibrium for a scalar conservation law with nonlocal velocity and measurement error arising in a highly re-entrant manufacturing system. By using a suitable Lyapunov function,…
In this paper, a triggered Batch Least-Squares Identifier (BaLSI) based adaptive safety control scheme is proposed for uncertain systems with potentially conflicting control objectives and safety constraints. A relaxation term is added to…