Related papers: A Unified Framework for Attack-Resilient CLF-CBF Q…
We present a computational framework for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety. We show that the existence of a strictly compatible pair of control barrier and control Lyapunov…
It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov-barrier function (CLBF)…
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
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…
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying…
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety…
In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. For control-affine systems, by choosing a continuous piecewise…
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are powerful tools to ensure safety and stability respectively. However, previous approaches typically…
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We introduce the Universal Barrier Function (UBF), a single…
This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs subject to state and…
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward…
Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a sequence of Quadratic Programs (QPs) by using Control Barrier…
This paper establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF). We show that, if the cost function "behaves well" for…
In this paper we address the problem of control Lyapunov-barrier function (CLBF)-based safe stabilization for a class of nonlinear control-affine systems. A difficulty may arise for the case when a constraint has the relative degree larger…
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…