3 citations · 6 across the 4 of their papers we have counts for
6 papers · 1 filter
Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
Mitchell Black, Georgios Fainekos, Bardh Hoxha +1
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. Fi…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
Consolidated Control Barrier Functions: Synthesis and Online Verification via Adaptation under Input Constraints
Mitchell Black, Dimitra Panagou
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthe…
Safe Control Design for Unknown Nonlinear Systems with Koopman-based Fixed-Time Identification
Mitchell Black, Dimitra Panagou
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancemen…
Adaptation for Validation of a Consolidated Control Barrier Function based Control Synthesis
Mitchell Black, Dimitra Panagou
We develop a novel adaptation-based technique for safe control design in the presence of multiple control barrier function (CBF) constraints. Specifically, we introduce an approach…
A Fixed-Time Stable Adaptation Law for Safety-Critical Control under Parametric Uncertainty
Mitchell Black, Ehsan Arabi, Dimitra Panagou
We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyap…