1 citations · 4 across the 12 of their papers we have counts for
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Active Compensation of Position Dependent Flexible Dynamics in High-Precision Mechatronics
Yorick Broens, Hans Butler, Ramidin Kamidi +2
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demand…
On unifying control barrier and Lyapunov functions using QP and Sontag's formula with an application to tumor dynamics
Jarne J. H. van Gemert, Mircea Lazar, Siep Weiland
A common tool in system theory for formulating control laws that achieve local asymptotic stability are Control Lyapunov functions (CLFs), while Control Barrier functions (CBFs) ar…
A Comparative Study of Artificial Potential Fields and Reciprocal Control Barrier Function-based Safety Filters
Ming Li, Zhiyong Sun
In this paper, we demonstrate that controllers designed by artificial potential fields (APFs) can be derived from reciprocal control barrier function quadratic program (RCBF-QP) sa…
A Tunable Universal Formula for Safety-Critical Control
Ming Li, Zhiyong Sun, Patrick J. W. Koelewijn +1
Sontag's universal formula is a widely used technique for stabilizing control through control Lyapunov functions. Recently, it has been extended to address safety-critical control…
Unifying Controller Design for Stabilizing Nonlinear Systems with Norm-Bounded Control Inputs
Ming Li, Zhiyong Sun, Siep Weiland
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal f…
Convex Equilibrium-Free Stability and Performance Analysis of Discrete-Time Nonlinear Systems
Patrick J. W. Koelewijn, Siep Weiland, Roland Tóth
This paper considers the equilibrium-free stability and performance analysis of discrete-time nonlinear systems. We consider two types of equilibrium-free notions. Namely, the univ…
Quadrotor Stabilization with Safety Guarantees: A Universal Formula Approach
Ming Li, Zhiyong Sun, Siep Weiland
Safe stabilization is a significant challenge for quadrotors, which involves reaching a goal position while avoiding obstacles. Most of the existing solutions for this problem rely…