Related papers: Tunable Input-to-State Safety with Input Constrain…
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer a structured approach to synthesizing safe controllers that…
Regular transition systems (RTS) are a popular formalism for modeling infinite-state systems in general, and parameterised systems in particular. In a CONCUR 22 paper, Esparza et al. introduce a novel approach to the verification of RTS,…
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs.…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
Cyber-physical systems (CPS) are required to satisfy safety constraints in various application domains such as robotics, industrial manufacturing systems, and power systems. Faults and cyber attacks have been shown to cause safety…
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be difficult, especially for large or complex spaces. This paper…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($\delta$-ISS). In this work, we introduce the notion of $\delta$-ISS control Lyapunov function…
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative, especially under input bounds. In many applications,…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
The goal of this paper is to analyze Long Short Term Memory (LSTM) neural networks from a dynamical system perspective. The classical recursive equations describing the evolution of LSTM can be recast in state space form, resulting in a…
This paper introduces a continuous formulation for compound state-triggered constraints, which are generalizations of the recently introduced state-triggered constraints. State-triggered constraints are different from ordinary constraints…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
In this work we present further characterizations of integral input-to-state stability (iISS) for hybrid systems. In particular, the equivalence between 0-input uniform global asymptotic stability (0-UGAS) plus uniform bounded energy…
Optimal control for safety-critical systems is often dependent on the conservativeness of constraints. Control Barrier Functions (CBFs) serve as a medium to represent such constraints, but constructing a minimally conservative CBF is a…
In this work, we present a heretofore unseen application of Ising machines to perform trust region-based optimisation with box constraints. This is done by considering a specific form of opto-electronic oscillator-based coherent Ising…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
Input-to-state stability (ISS) unifies the stability and robustness in one notion, and serves as a basis for broad areas of nonlinear control theory. In this contribution, we covered the most fundamental facts in the infinite-dimensional…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…