5 papers
Finite Boundary-Layer Residence Certificates for Non-Strict Control Barrier Functions
Tianyu Han, Guangwei Wang, Bo Wang
Non-strict control barrier function (CBF) conditions guarantee safety through forward invariance, but they do not preclude trajectories from remaining near the safe-set boundary fo…
Nonholonomic directional pursuit and evasion: Global feedbacks
Bo Wang, Miroslav Krstic
In a recent paper by the second coauthor, directional pursuit-evasion for strictly forward-moving nonholonomic vehicles was solved "half-globally", namely under favorable initial l…
Universal Formula Families for Safe Stabilization of Single-Input Nonlinear Systems
Bo Wang, Miroslav Krstic
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control b…
Further Results on Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
Bo Wang, Tianyu Han, Guangwei Wang
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant contr…
Safety-Critical Stabilization of Force-Controlled Nonholonomic Mobile Robots
Tianyu Han, Bo Wang
We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of…