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

This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…

Control barrier functions (CBFs) have recently been introduced as a systematic tool to ensure safety by establishing set invariance. When combined with a control Lyapunov function (CLF), they form a safety-critical control mechanism.…

In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…

In this paper, we study an optimal boundary control problem for a model for phase separation taking place in a spatial domain that was introduced by Podio-Guidugli in Ric. Mat. 55 (2006), pp. 105-118. The model consists of a strongly…

This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time safety recovery framework for any control-affine nonlinear…

Differential-algebraic equations (DAEs) arise in power networks, chemical processes, and multibody systems, where algebraic constraints encode physical conservation laws. The safety of such systems is critical, yet safe control is…

In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs),…

The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical control of nonlinear systems with parametric uncertainties.…

We study robust output regulation for parabolic partial differential equations and other infinite-dimensional linear systems with analytic semigroups. As our main results we show that robust output tracking and disturbance rejection for our…

In this paper, we consider a class of optimal control problems governed by 1D parabolic state-systems of KWC types with dynamic boundary conditions. The state-systems are based on a phase-field model of grain boundary motion, proposed in…

This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…

This paper deals with the analysis of the internal control with constraint of positive kind of a parabolic PDE with nonlinear diffusion when the time horizon is large enough. The minimal controllability time will be strictly positive. We…

This paper deals with the exponential stability of systems made of a hyperbolic PDE coupled with an ODE with different time scales, the dynamics of the PDE being much faster than that of the ODE. Such a difference of time scales is modeled…

We consider the integral definition of the fractional Laplacian and analyze a linear-quadratic optimal control problem for the so-called fractional heat equation; control constraints are also considered. We derive existence and uniqueness…

Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…

This paper addresses the safety challenges in impulsive systems, where abrupt state jumps introduce significant complexities into system dynamics. A unified framework is proposed by integrating Quadratic Programming (QP), Control Barrier…

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…

In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain…

This work is concerned with the safety controller synthesis of stochastic hybrid systems, in which continuous evolutions are described by stochastic differential equations with both Brownian motions and Poisson processes, and instantaneous…