4 papers
Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
Yingqing Chen, Christos G. Cassandras, Wei Xiao +1
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time sa…
Robust Taylor-Lagrange Control for Safety-Critical Systems with Guaranteed Feasibility
Wei Xiao, Christos Cassandras, Anni Li
The Control Barrier Function (CBF) method has been widely adopted in solving safety-critical control problems. However, the existence of a CBF is only a sufficient condition for sy…
Disturbance rejection control barrier functions
Xinyang Wang, Wei Xiao, Hongwei Zhang
Most existing robust control barrier functions (CBFs) can only handle matched disturbances, restricting their applications in real-world scenarios. While some recent advances exten…
Safe Learning Control with Optimality and Stability Guarantees
Xinyang Wang, Hongwei Zhang, Shimin Wang +2
Merely pursuing performance may adversely affect safety, while a conservative policy for safe exploration will degrade the performance. How to guarantee both safety and performance…