Jun 16, 2021 · In this article, we propose a notion of high-order (zeroing) barrier functions (HOBFs) that generalizes the concept of zeroing barrier functions and guarantees ...
Robustness is addressed by ensuring asymptotic stability of the forward invariant set and an Input- to-State stability property of the safe set is established.
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high ...
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Oct 22, 2024 · In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and ...
A control barrier function can be combined with a control Lyapunov function in a quadratic program to achieve a control objective subject to safety guarantees.
The design of robust safety-critical control systems must balance safety and performance. Maintaining safety is crucial, but avoiding unnecessary ...
This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives ...
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges
Abstract—We approach the problem of stabilizing a dynamical system while optimizing a cost and satisfying safety constraints and control limitations.
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched ...