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eess.SY2024
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
Kai S. Yun, Rui Chen, Chase Dunaway +2
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dy…
eess.SY2023★ 3 cited
Synthesis and verification of robust-adaptive safe controllers
Simin Liu, Kai S. Yun, John M. Dolan +1
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a ge…