相关论文: Safety-Critical Control of Stochastic Systems usin…
In this paper, a constrained control approach to variable speed limit (VSL) control for macroscopic partial differential equations (PDE) traffic models is developed. Control Lyapunov function (CLF) theory for ordinary differential equations…
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fields, they can suffer from the stable spurious equilibrium…
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…
This work is concerned with the safety controller synthesis of stochastic hybrid systems, in which continuous evolutions are described by stochastic differential equations with both Brownian motions and Poisson processes, and instantaneous…
In this paper, we study the relationship between systems controlled via Control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical Systems (PDSs). In particular, under appropriate…
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
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…
Discrete-time Control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper, we provide an optimization-based algorithm,…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barrier function (CBF) embedded within a quadratic program (QP).…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…
Cyber-physical and autonomous systems are often equipped with mechanisms that provide predictions/projections of future disturbances, e.g., road curvatures, commonly referred to as preview or lookahead, but this preview information is…
Robust control barrier functions (CBFs) provide a principled mechanism for smooth safety enforcement under worst-case disturbances. However, existing approaches typically rely on explicit, closed-form structure in the dynamics (e.g.,…
This paper presents a time-varying soft-maximum composite control barrier function (CBF) that can be used to ensure safety in an a priori unknown environment, where local perception information regarding the safe set is periodically…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…