5 papers · 1 filter
Verification and Synthesis of Discrete-Time Control Barrier Functions
Erfan Shakhesi, W. P. M. H. Heemels, Alexander Katriniok
Discrete-time Control Barrier Functions (DTCBFs) have recently attracted interest for guaranteeing safety and synthesizing safe controllers for discrete-time dynamical systems. Thi…
Counterexample-Guided Synthesis of Robust Discrete-Time Control Barrier Functions
Erfan Shakhesi, Alexander Katriniok, W. P. M. H. Heemels
Learning-based methods have gained popularity for training candidate Control Barrier Functions (CBFs) to satisfy the CBF conditions on a finite set of sampled states. However, sinc…
A Contingency Model Predictive Control Framework for Safe Learning
Merlijne Geurts, Tren Baltussen, Alexander Katriniok +1
This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learnin…
Synthesis of Discrete-time Control Barrier Functions for Polynomial Systems Based on Sum-of-Squares Programming
Erfan Shakhesi, W. P. M. H. Heemels, Alexander Katriniok
Discrete-time Control Barrier Functions (DTCBFs) are commonly utilized in the literature as a powerful tool for synthesizing control policies that guarantee safety of discrete-time…
Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging
Alexander Katriniok, Erfan Shakhesi, W. P. M. H. Heemels
In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility i…