1 citations · 2 across the 8 of their papers we have counts for
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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…
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…