相关论文: A Converse Robust-Safety Theorem for Differential …

This paper presents converse theorems for safety in terms of barrier functions for unconstrained continuous-time systems modeled as differential inclusions. Via a counterexample, we show the lack of existence of autonomous and continuous…

We prove a robust converse barrier function theorem via the converse Lyapunov theory. While the use of a Lyapunov function as a barrier function is straightforward, the existence of a converse Lyapunov function as a barrier function for a…

A dynamical system is strongly robustly safe provided that it remains safe in the presence of a continuous and positive perturbation, named robustness margin, added to both the argument and the image of the right-hand side (the dynamics).…

In this brief paper we introduce a robust-safety notion for differential inclusions, and we propose a general framework to certify such a notion in terms of barrier functions. While existing literature studied only what we designate by…

An important tool for proving safety of dynamical systems is the notion of a barrier certificate. In this paper we prove that every robustly safe ordinary differential equation has a barrier certificate. Moreover, we show a construction of…

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…

Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a…

Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability…

Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we…

Neural Lyapunov and barrier certificates have recently been used as powerful tools for verifying the safety and stability properties of deep reinforcement learning (RL) controllers. However, existing methods offer guarantees only under…

This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…

Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying barrier certificates for discrete-time,…

In this paper, we investigate the problem of verifying the finite-time safety of continuous-time perturbed deterministic systems represented by ordinary differential equations in the presence of measurable disturbances. Given a finite-time…

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…

We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…

Recently, barrier certificates have been introduced to prove the safety of continuous or hybrid dynamical systems. A barrier certificate needs to exhibit some barrier function, which partitions the state space in two subsets: the safe…

We consider the problem of verifying safety for continuous-time dynamical systems. Developing upon recent advancements in data-driven verification, we use only a finite number of sampled trajectories to learn a barrier certificate, namely a…

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…

Safety-critical control tasks with high levels of uncertainty are becoming increasingly common. Typically, techniques that guarantee safety during learning and control utilize constraint-based safety certificates, which can be leveraged to…

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.,…