相关论文: Polytope Volume Monitoring Problem: Formulation an…
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…
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are powerful tools to ensure safety and stability respectively. However, previous approaches typically…
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their…
The dynamics of cavitation bubbles are important in many flows, but their small sizes and high number densities often preclude direct numerical simulation. We present a computational model that averages their effect on the flow over larger…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Probing beam measurement (PBM)-based hybrid beamforming provides a feasible solution for cell-free MIMO. In this letter, we propose a novel probing beam optimization framework where three collaborative modules respectively realize PBM…
In this paper, an oscillation-free spectral volume (OFSV) method is proposed and studied for the hyperbolic conservation laws. The numerical scheme is designed by introducing a damping term in the standard spectral volume method for the…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Multi-agent partially observable Markov decision processes (MPOMDPs) provide a framework to represent heterogeneous autonomous agents subject to uncertainty and partial observation. In this paper, given a nominal policy provided by a human…
This article focuses on the finite volume method (FVM) as an instrument tool to deal with the non-linear collisional-induced breakage equation (CBE) that arises in the particulate process. Notably, we consider the non-conservative…
This paper is devoted to analyze of nonconforming finite volume methods (FVMs), whose trial spaces are chosen as the nonconforming finite element (FE) spaces, for solving the second order elliptic boundary value problems. We formulate the…
Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for…
We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…
Several theorems on the volume computing of the polyhedron spanned by a n-dimensional vector set with the finite-interval parameters are presented and proved firstly, and then are used in the analysis of the controllable regions of the…
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…
In this paper we discuss the controllability of two-point boundary value problem (TBVP) for one-dimensional wave equation. Some new concepts are introduced: TBVP input control problem, minimum-input solution (MS) and pre-minimum-input…
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is established on an accurate dynamic model and access to all…
Computing accurate periodic responses in strongly nonlinear or even non-smooth vibration systems remains a fundamental challenge in nonlinear dynamics. Existing numerical methods, such as the Harmonic Balance Method (HBM) and the Shooting…
This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the…
We study the safety verification problem for a class of distributed parameter systems described by partial differential equations (PDEs), i.e., the problem of checking whether the solutions of the PDE satisfy a set of constraints at a…