Multi-UAV safe collaborative transportation based on adaptive control barrier function
Z Wang, T Hu, L Long - IEEE Transactions on Systems, Man …, 2023 - ieeexplore.ieee.org
This article focuses on the problem of adaptive safe stabilization for a class of nonlinear
control affine systems with parameter uncertainties. Two novel definitions of adaptive control …
control affine systems with parameter uncertainties. Two novel definitions of adaptive control …
High order robust adaptive control barrier functions and exponentially stabilizing adaptive control lyapunov functions
This paper studies the problem of utilizing data-driven adaptive control techniques to
guarantee stability and safety of uncertain nonlinear systems with high relative degree. We …
guarantee stability and safety of uncertain nonlinear systems with high relative degree. We …
Temporal logic guided safe model-based reinforcement learning: A hybrid systems approach
This paper studies the problem of synthesizing control policies for uncertain continuous-time
nonlinear systems from linear temporal logic (LTL) specifications using model-based …
nonlinear systems from linear temporal logic (LTL) specifications using model-based …
Parameterized barrier functions to guarantee safety under uncertainty
Deploying safety-critical controllers in practice necessitates the ability to modulate
uncertainties in control systems. In this context, robust control barrier functions—in a variety …
uncertainties in control systems. In this context, robust control barrier functions—in a variety …
Unmatched control barrier functions: Certainty equivalence adaptive safety
BT Lopez, JJE Slotine - 2023 American Control Conference …, 2023 - ieeexplore.ieee.org
This work applies universal adaptive control to control barrier functions to achieve safe
control of dynamical systems with parametric model uncertainties. The proposed approach …
control of dynamical systems with parametric model uncertainties. The proposed approach …
On the feasibility and continuity of feedback controllers defined by multiple control barrier functions
Control barrier functions are a popular method for encoding safety specifications for
dynamical systems. In this paper, a notion of control barrier function is defined that permits …
dynamical systems. In this paper, a notion of control barrier function is defined that permits …
Adaptive safety-critical control for a class of nonlinear systems with parametric uncertainties: A control barrier function approach
This paper presents a novel approach for the safe control design of systems with parametric
uncertainties in both drift terms and control-input matrices. The method combines control …
uncertainties in both drift terms and control-input matrices. The method combines control …
Concurrent Learning Control Lyapunov and Barrier Functions for Uncertain Nonlinear Safety-Critical Systems With High Relative Degree Constraints
L Wang, J Dong - IEEE Transactions on Automation Science …, 2023 - ieeexplore.ieee.org
This paper studies the problem of safety-critical tracking control for uncertain nonlinear
systems which are allowed to be with high relative degree constraints, parametric …
systems which are allowed to be with high relative degree constraints, parametric …
Sufficient conditions for uniform asymptotic stability and input-to-state stability using high-order control barrier functions
Control barrier functions (CBFs) ensure the safety of controlled dynamical systems by
enforcing forward invariance of safe subsets of the state space. First-order CBFs are …
enforcing forward invariance of safe subsets of the state space. First-order CBFs are …
Maneuvering with safety guarantees using control barrier functions
Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting
the control inputs to render desired sets forward invariant. In this paper we propose a …
the control inputs to render desired sets forward invariant. In this paper we propose a …