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eess.SY2025
Predictive control barrier functions for piecewise affine systems with non-smooth constraints
Kanghui He, Anil Alan, Shengling Shi +2
Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an…
eess.SY2025
Learning State-Action Control Barrier Functions for Model-Free Control under Constraints
Kanghui He, Shengling Shi, Ton van den Boom +1
Ensuring constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-bas…
eess.SY2023
State-action control barrier functions: Imposing safety on learning-based control with low online computational costs
Kanghui He, Shengling Shi, Ton van den Boom +1
Learning-based control with safety guarantees usually requires real-time safety certification and modifications of possibly unsafe learning-based policies. The control barrier func…