相关论文: Safe Adaptive Control of Parabolic PDE-ODE Cascade…

This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form…

This article deals with the boundary null controllability of some degenerate parabolic equations posed on a square domain, presenting the first study of boundary controllability for such equations in multidimensional settings. The proof…

Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…

In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…

This paper is devoted to proposing a new asymmetric risk-sensitive criterion involving different risk attitudes toward varying risk sources. The criterion can only be defined through the initial value of the minimal solutions of quadratic…

This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified,…

We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…

This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…

In this paper, we establish the existence of a positive, bounded solution for a class of parabolic partial differential equations with nonlinear boundary conditions, where the boundary conditions depend on the solution on the boundary at a…

This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…

Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…

This article introduces the Pareto Control Barrier Function (PCBF) algorithm to maximize the inner safe set of dynamical systems under input constraints. Traditional Control Barrier Functions (CBFs) ensure safety by maintaining system…

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

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…

This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…

We study the finite-horizon optimal control problem with quadratic functionals for an established fluid-structure interaction model. The coupled PDE system under investigation comprises a parabolic (the fluid) and a hyperbolic (the solid)…

This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller…

This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable control barrier function (CBF). The overall system detects an…

We consider an 1D partial integro-differential equation (PIDE) comprising of an 1D parabolic partial differential equation (PDE) and a nonlocal integral term. The control input is applied on one of the boundaries of the PIDE. Partitioning…