相关论文: Construction of control barrier function and $C^2$…
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 presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g. passivity-based) while…
We propose a systematic and comprehensive procedure for the construction of synergistic potential functions, which are instrumental in hybrid control design on SO(3). A new map via angular warping on SO(3) is introduced for the construction…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and…
This work is concerned with developing a data-driven approach for learning control barrier certificates (CBCs) and associated safety controllers for discrete-time nonlinear polynomial systems with unknown mathematical models, guaranteeing…
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
Synthesising safe controllers from visual data typically requires extensive supervised labelling of safety-critical data, which is often impractical in real-world settings. Recent advances in world models enable reliable prediction in…
This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…
Adaptive control provides closed-loop stability and reference tracking for uncertain dynamical systems through online parameter adaptation. These properties alone, however, do not ensure safety in the sense of forward invariance of state…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
In this paper, we revisit the formal verification problem for stochastic dynamical systems over finite horizon using barrier certificates. Most existing work on this topic focuses on safety properties by constructing barrier certificates…
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 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…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
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.…