Related papers: Tunable Input-to-State Safety with Input Constrain…
For the class of nonlinear input-affine systems with polynomial dynamics, we consider the problem of designing an input-to-state stabilizing controller with respect to typical exogenous signals in a feedback control system, such as actuator…
Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…
This paper deals with input/output-to-state stability (IOSS) of continuous-time switched nonlinear systems. Given a family of systems, possibly containing unstable dynamics, and a set of restrictions on admissible switches between the…
This paper presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy…
The present work provides two alternatives to formulate time-discounted incremental input/output-to-state stability (i-IOSS) as a suitable detectability notion for general nonlinear systems with non-additive disturbances. Both formulations…
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF acts as a pre-stabilizing base controller that enforces state…
This paper looks at two problems, minimum constrained input selection and minimum cost constrained input selection for state space structured systems. The input matrix is constrained in the sense that the set of states that each input can…
This paper presents a tractable framework for data-driven synthesis of robustly safe control laws. Given noisy experimental data and some priors about the structure of the system, the goal is to synthesize a state feedback law such that the…
The anti-windup compensation typically addresses strict control limitations in control systems. However, there is a clear need for an equivalent solution for the states/outputs of the system. This paper introduces a novel methodology for…
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints…
Safe stabilization is a significant challenge for quadrotors, which involves reaching a goal position while avoiding obstacles. Most of the existing solutions for this problem rely on optimization-based methods, demanding substantial…
Suitable continuity and boundedness assumptions on the function f defining the dynamics of a time-varying nonimpulsive system with inputs are known to make the system inherit stability properties from the zero-input system. Whether this…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
We consider the problem of navigating a nonlinear dynamical system from some initial set to some target set while avoiding collision with an unsafe set. We extend the concept of density function to control density function (CDF) for solving…
Ensuring both safety and stability remains a fundamental challenge in learning-based control, where goal-oriented policies often neglect system constraints and closed-loop state convergence. To address this limitation, this paper introduces…
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation…
This paper develops certificates that propagate compatibility of multiple control barrier function (CBF) constraints from sampled vertices to their convex hull. Under mild concavity and affinity assumptions, we present three sufficient…
This paper introduces the concept of Transient Slack Capability (TSC), a set of three necessary device-level conditions to ensure stability under sustained power perturbations. TSC states that a device must (1) possess sufficient stored…
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…
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…