59 citations · 115 across the 7 of their papers we have counts for
4 papers · 1 filter
Adaptive Safety-Critical Control for a Class of Nonlinear Systems with Parametric Uncertainties: A Control Barrier Function Approach
Yujie Wang, Xiangru Xu
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines contro…
Small-Gain Theorem for Safety Verification under High-Relative-Degree Constraints
Ziliang Lyu, Xiangru Xu, Yiguang Hong
This paper develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints. In this technique, input…
Disturbance Observer-based Robust Control Barrier Functions
Yujie Wang, Xiangru Xu
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Diff…
Small-Gain Theorem for Safety Verification of Interconnected Systems
Ziliang Lyu, Xiangru Xu, Yiguang Hong
A small-gain theorem in the formulation of barrier function is developed in this work for safety verification of interconnected systems. This result is helpful to verify input-to-s…