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Reachability Analysis and Safety Verification of Neural Feedback Systems via Hybrid Zonotopes
Yuhao Zhang, Xiangru Xu
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex set…
Optimal Control for Kinematic Bicycle Model with Continuous-time Safety Guarantees: A Sequential Second-order Cone Programming Approach
Victor Freire, Xiangru Xu
The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based…
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…
Safety Verification of Neural Feedback Systems Based on Constrained Zonotopes
Yuhao Zhang, Xiangru Xu
Artificial neural networks have recently been utilized in many feedback control systems and introduced new challenges regarding the safety of such systems. This paper considers the…
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…