Safety is one of the fundamental problems in robotics. Recently, a quadratic program based
control barrier function (CBF) method has emerged as a way to enforce safety-critical …

This paper presents a methodology for ensuring that the composition of multiple Control
Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the …

This article presents new stabilization conditions for the state feedback control of switched
linear systems subject to actuator saturation. Based on the semiellipsoidal approach and the …

This paper considers the problem of computing a low-complexity robust control-invariant (LC-
RCI) set for uncertain systems, along with a static linear state-feedback law. The LC-RCI set …

This paper presents an algorithm that computes polytopic robust control‐invariant (RCI) sets
for rationally parameter‐dependent systems with additive disturbances. By means of novel …

This letter proposes an algorithm to find a robust control invariant (RCI) set of desired
complexity and the associated linear, state-feedback control law. The candidate RCI set is …

Challenges of Control Barrier Functions: Optimization, Control, Planning, and Navigation by Jun
Zeng A dissertation submitted in Page 1 Challenges of Control Barrier Functions: Optimization …

In this paper, a new output feedback integral sliding model predictive control (OF-ISMPC)
strategy is proposed for linear discrete-time systems when the states are unmeasured, which …

This paper studies the problem of constructing in-block controllable (IBC) regions for affine
systems. That is, we are concerned with constructing regions in the state space of affine …

In this paper we consider the problem of computing control invariant sets for linear controlled
systems with constraints on the input and on the states. We focus in particular on the …