124 citations · 200 across the 25 of their papers we have counts for
3 papers · 1 filter
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
Max H. Cohen, Ryan K. Cosner, Aaron D. Ames
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a C…
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions
Ryan K. Cosner, Preston Culbertson, Aaron D. Ames
When deployed in the real world, safe control methods must be robust to unstructured uncertainties such as modeling error and external disturbances. Typical robust safety methods a…