相关论文: A Unified Framework for Attack-Resilient CLF-CBF Q…
We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear…
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model uncertainty remains a significant challenge in synthesizing…
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific…
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…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…
High performance, reliability and safety are crucial properties of any Software-Defined-Networking (SDN) system. Although the use of Deep Reinforcement Learning (DRL) algorithms has been widely studied to improve performance, their…
Autonomous spacecraft inspection and docking missions require controllers that can guarantee safety under thrust constraints and uncertainty. Input-constrained control barrier functions (ICCBFs) provide a framework for safety certification…
A DC microgrid is a promising alternative to the traditional AC power grid, since it can efficiently integrate distributed and renewable energy resources. However, as an emerging framework, it lacks the rigorous theoretical guarantees of…
Control Lyapunov Functions (CLFs) have been extensively used in the control community. A well-known drawback is the absence of a systematic way to construct CLFs for general nonlinear systems, and the problem can become more complex with…
This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…
Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
This paper presents a methodology for the construction of simple Control Lyapunov Functionals (CLFs) for boundary controlled parabolic Partial Differential Equations (PDEs). The proposed methodology provides functionals that contain only…
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
We consider a nonlinear control affine system controlled by inputs generated by a quadratic program (QP) induced by a control barrier functions (CBF). Specifically, we slightly modify the condition satisfied by CBFs and study how the…
Control barrier functions (CBFs) are a popular tool for safety certification of nonlinear dynamical control systems. Recently, CBFs represented as neural networks have shown great promise due to their expressiveness and applicability to a…