4 papers
Computing the Maximal Controlled Invariant Set for Neural Network Control Systems
Tianxiao Ye, Hang Zhang, Xiangru Xu
This article studies the computation of the maximal controlled invariant set (MCIS) for neural network control systems (NNCSs) with a nominal plant model and a neural network resid…
Proxy Control Barrier Functions: Integrating Barrier-Based and Lyapunov-Based Safety-Critical Control Design
Yujie Wang, Xiangru Xu
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback sy…
Safe Control of Euler-Lagrange Systems with Limited Model Information
Yujie Wang, Xiangru Xu
This paper presents a new safe control framework for Euler-Lagrange (EL) systems with limited model information, external disturbances, and measurement uncertainties. The EL system…
Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control
Yujie Wang, Xiangru Xu
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an outpu…