76 citations · 83 across the 8 of their papers we have counts for
6 papers · 1 filter
Parameterized Barrier Functions to Guarantee Safety under Uncertainty
Anil Alan, Tamas G. Molnar, Aaron D. Ames +1
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a v…
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
Anil Alan, Tamas G. Molnar, Ersin Das +2
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the eff…
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessar…
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
Tamas G. Molnar, Anil Alan, Adam K. Kiss +2
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function th…
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigat…
Adaptive Pressure Control for Use in Variable-Thrust Rocket Development
Anil Alan, Yildiray Yildiz, Umit Poyraz
The precise control of gas generator pressure is important to obtain variable thrust in ducted rockets. A delay resistant closed loop reference model adaptive control is proposed i…