相关论文: Safety-Critical Control under Multiple State and I…

Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…

This paper focuses on the problem of spacecraft attitude control in the presence of time-varying parameter uncertainties and multiple constraints, accounting for angular velocity limitation, performance requirements, and input saturation.…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…

Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…

We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…

In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We introduce the Universal Barrier Function (UBF), a single…

Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…

This paper presents methodologies for ensuring forward invariance of sublevel sets of constraint functions with high-relative-degree with respect to the system dynamics and in the presence of input constraints. We show that such constraint…

Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are…

Ensuring safety for vehicle overtaking systems is one of the most fundamental and challenging tasks in autonomous driving. This task is particularly intricate when the vehicle must not only overtake its front vehicle safely but also…

This paper establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF). We show that, if the cost function "behaves well" for…

While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes…

This paper presents an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with both matched and unmatched nonlinear uncertainties subject to both state and input constraints. In…

For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs.…

This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position model predictive control (MPC) and an inner-loop nonlinear…

In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure…

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…

Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…