相关论文: Extent-Compatible Control Barrier Functions

In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…

This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…

We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. 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…

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…

The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent…

The control Barrier function approach has been widely used for safe controller synthesis. By solving an online convex quadratic programming problem, an optimal safe controller can be synthesized implicitly in state-space. Since the solution…

We propose a novel approach to certify closed-loop stability and safety of a constrained polynomial system based on the combination of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). For polynomial systems that are…

In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose a new type of barrier function based on a vector norm. This…

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…

We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…

This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs…

This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…

Control barrier functions are a popular method of ensuring system safety, and these functions can be used to enforce invariance of a set under the dynamics of a system. A control barrier function must have certain properties, and one must…

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…

Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…

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…

This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…

This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. The maximal phase recoverable ellipse is presented as a safe…

Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…