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eess.SY2026
Curvature-Guided Safety Filters: State-Dependent Hessian-Weighted Projection with Provable Performance Bounds
Ziyan Lin, Liang Xu
Safety filters provide a lightweight mechanism for enforcing state and input safety in learning-enabled control. However, common Euclidean projections onto the safe set disregard l…
eess.SY2024
Neural Exponential Stabilization of Control-affine Nonlinear Systems
Muhammad Zakwan, Liang Xu, Giancarlo Ferrari-Trecate
This paper proposes a novel learning-based approach for achieving exponential stabilization of nonlinear control-affine systems. We leverage the Control Contraction Metrics (CCMs)…