相关论文: Safe Control Synthesis for Multicopter via Control…
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work…
The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
In this paper, we consider the use of barrier function-based approaches for the safe control problem in stochastic systems. With the presence of stochastic uncertainties, a myopic controller that ensures safe probability in infinitesimal…
Researchers have developed various cascaded controllers and non-cascaded controllers for the navigation and control of quadrotors in recent years. It is vital to ensure the safety of a quadrotor both in normal state and in abnormal state if…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
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…
In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on the system control input and on an output of the same…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite time horizon. We use stochastic barrier functions as a means to quantify the probability that a system exits a given safe region of the state…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…
Safety-critical control is characterized as ensuring constraint satisfaction for a given dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have provided a framework for ensuring safety of a superlevel set of…
Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…
This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone…