Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
Certifying the safety of nonlinear systems, through the lens of set invariance and control
barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF …
barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF …
Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions
Safety and stability are essential properties of control systems. Control Barrier Functions
(CBFs) and Control Lyapunov Functions (CLFs) have been proposed to ensure safety and …
(CBFs) and Control Lyapunov Functions (CLFs) have been proposed to ensure safety and …
A Comparative Study of Artificial Potential Fields and Safety Filters
In this paper, we have demonstrated that the controllers designed by a classical motion
planning tool, namely artificial potential fields (APFs), can be derived from a recently …
planning tool, namely artificial potential fields (APFs), can be derived from a recently …
CONTRACT-BASED MULTI-RATE CONTROL DESIGN
Y Liu - 2024 - minds.wisconsin.edu
This thesis investigates a contract-based control design framework that aims to solve the
constraint partition problem raised in multi-rate control. There are three components in such …
constraint partition problem raised in multi-rate control. There are three components in such …
Inverz inga biztonságkritikus szabályzásának vizsgálata korlátolt beavatkozás mellett: Safety-Critical Control of inverted pendulum with input constraint
G László, K Ádám - Nemzetközi Gépészeti Konferencia–OGÉT, 2024 - ojs.emt.ro
Abstract Safety-Critical Control is emerging as one of the most significant research areas
nowadays. Its undisputed reputation is due to the straightforward computation of the input …
nowadays. Its undisputed reputation is due to the straightforward computation of the input …