5 papers
Optimal Safety Control using High-Order Control Barrier Functions
Neng Li, Zuodong Pan, Jiaxing Wang +2
This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel high-order control barrier functions (HOCBFs). Different from zeroing HOC…
Optimal Planning and Control under Signal Temporal Logic Specifications
Zuodong Pan, Xu Fang, Wei Ren
This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks…
Emulation-based Stabilization for Networked Control Systems with Stochastic Channels
Wei Ren, Wei Wang, Zhuo-Rui Pan +3
This paper studies the stabilization problem of networked control systems (NCSs) with random packet dropouts caused by stochastic channels. To describe the effects of stochastic ch…
Multiple Control Functionals for Interconnected Time-Delay Systems
Zhuo-Rui Pan, Wei Ren, Xi-Ming Sun
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cy…
Motion Control of Two Mobile Robots under Allowable Collisions
Li Tan, Wei Ren, Xi-Ming Sun +1
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobil…