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math.OC2025
Uniform Feasibility For Smoothed Backup Control Barrier Functions
Anil Alan, Bart De Schutter
We study feasibility guarantees for safety filters developed using Control Barrier Functions (CBFs) when a safe set is defined using the pointwise minimum of continuously different…
math.OC2024★ 1 cited
Certainty-Equivalence Model Predictive Control: Stability, Performance, and Beyond
Changrui Liu, Shengling Shi, Bart De Schutter
Handling model mismatch is a common challenge in model predictive control (MPC). While robust MPC is effective, its conservatism often makes it less desirable. Certainty-equivalenc…