8 papers · 1 filter
Taylor-Lagrange Control for Safety-Critical Systems
Wei Xiao, Anni Li
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder.…
Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (…
A Predictive and Sampled-Data Barrier Method for Safe and Efficient Quadrotor Control
Ming Gao, Zhanglin Shangguan, Shuo Liu +3
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position…
HJB-based online safety-embedded critic learning for uncertain systems with self-triggered mechanism
Zhanglin Shangguan, Bo Yang, Qi Li +2
This paper presents a learning-based optimal control framework for safety-critical systems with parametric uncertainties, addressing both time-triggered and self-triggered controll…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) ge…
Auxiliary-Variable Adaptive Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) oft…
Safety-Critical Control with Guaranteed Lipschitz Continuity via Filtered Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks,…
EIQP: Execution-time-certified and Infeasibility-detecting QP Solver
Liang Wu, Wei Xiao, Richard D. Braatz
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-ti…