7 citations · 10 across the 6 of their papers we have counts for
5 papers · 1 filter
Construction of Control Barrier Functions Using Predictions with Finite Horizon
Adrian Wiltz, Xiao Tan, Dimos V. Dimarogonas
In this paper, we show that under mild controllability assumptions a time-invariant Control Barrier Function (CBF) can be constructed based on predictions with a finite horizon. As…
Compatibility checking of multiple control barrier functions for input constrained systems
Xiao Tan, Dimos V. Dimarogonas
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform s…
A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems
Wenceslao Shaw Cortez, Xiao Tan, Dimos V. Dimarogonas
We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications t…
On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs
Xiao Tan, Dimos V. Dimarogonas
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed fo…
High-order Barrier Functions: Robustness, Safety and Performance-Critical Control
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by chec…