3 papers
Constant-Sum High-Order Barrier Functions for Safety Between Parallel Boundaries
Kwang Hak Kim, Mamadou Diagne, Miroslav KrstiÄ
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been…
Extremum Seeking Control for Multivariable Maps under Actuator Saturation
Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +1
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we d…
Multivariable Extremum Seeking Unit-Vector Control Design
Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +1
This paper investigates multivariable extremum seeking using unit-vector control. By employing the gradient algorithm and a polytopic embedding of the unknown Hessian matrix, we es…