4 papers
Safe Learning Control with Optimality and Stability Guarantees
Xinyang Wang, Hongwei Zhang, Shimin Wang +2
Merely pursuing performance may adversely affect safety, while a conservative policy for safe exploration will degrade the performance. How to guarantee both safety and performance…
Disturbance rejection control barrier functions
Xinyang Wang, Wei Xiao, Hongwei Zhang
Most existing robust control barrier functions (CBFs) can only handle matched disturbances, restricting their applications in real-world scenarios. While some recent advances exten…
Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
Yingqing Chen, Christos G. Cassandras, Wei Xiao +1
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time sa…
Robust Taylor-Lagrange Control for Safety-Critical Systems
Wei Xiao, Christos Cassandras, Anni Li
Solving safety-critical control problem has widely adopted the Control Barrier Function (CBF) method. However, the existence of a CBF is only a sufficient condition for system safe…