Related papers: Tunable Input-to-State Safety with Input Constrain…

This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…

Complex, interconnected Cyber-physical Systems (CPS) are increasingly common in applications including smart grids and transportation. Ensuring safety of interconnected systems whose dynamics are coupled is challenging because the effects…

It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be reduced to a sequence of quadratic programs (QPs) by using…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…

We provide a Lyapunov-function-based method for establishing different types of uniform input-to-state stability (ISS) for time-varying impulsive systems. The method generalizes to impulsive systems with inputs the well-established…

This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we show how state and actuation constraints can be incorporated…

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…

This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…

This paper addresses characterizations of Integral Input-to-State Stability (iISS) for hybrid systems with memory. Based on the Krasovskii approach, a novel Lyapunov characterization of iISS is established to extend the hybrid system theory…

Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…

Current Text-to-Speech (TTS) systems typically use separate models for speech-prompted and text-prompted timbre control. While unifying both control signals into a single model is desirable, the challenge of cross-modal alignment often…

In this paper, we extend the notion of finite-time input-to-state stability (FTISS) for finite-dimensional systems to infinite-dimensional systems. More specifically, we first prove an FTISS Lyapunov theorem for a class of…

We offer a compositional data-driven scheme for synthesizing controllers that ensure global asymptotic stability (GAS) across large-scale interconnected networks, characterized by unknown mathematical models. In light of each network's…

This paper addresses the input-to-state stability (ISS) and integral input-to-state stability (iISS) for a class of nonlinear higher dimensional parabolic partial differential equations (PDEs) with different types of boundary disturbances…

Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…

This paper studies the input-to-state stability (ISS) properties based on the method of Lyapunov functionals for a class of semi-linear parabolic partial differential equations (PDEs) with respect to boundary disturbances. In order to avoid…

This paper proposes a finite-time input-to-state stable (FTISS) bearing-only formation control law that rejects unknown constant disturbances. Unlike existing finite-time bearing-based formation control laws, which typically rely on the…

Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…