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Construction of Control Lyapunov-Barrier Functions from CLF-CBF Pairs
Bo Wang, Miroslav Krstic
This paper studies the construction of control Lyapunov-barrier functions (CLBFs) from a given control Lyapunov function (CLF) and control barrier function (CBF) . We consid…
Scaling-Based Reciprocal Control Barrier Functions for Nonholonomic Mobile Robots
Tianyu Han, Bo Wang
This paper studies the construction of control barrier functions (CBFs) for force-controlled nonholonomic mobile robots subject to relative-degree-two safety constraints arising fr…
Nonholonomic directional pursuit and evasion: Global feedbacks
Bo Wang, Miroslav Krstic
In a recent paper by the second coauthor, directional pursuit-evasion for strictly forward-moving nonholonomic vehicles was solved "half-globally", namely under favorable initial l…
Universal Formula Families for Safe Stabilization of Single-Input Nonlinear Systems
Bo Wang, Miroslav Krstic
We develop an optimization-free framework for safe stabilization of single-input control-affine nonlinear systems with a given control Lyapunov function (CLF) and a given control b…
Finite Boundary-Layer Residence Certificates for Non-Strict Control Barrier Functions
Tianyu Han, Guangwei Wang, Bo Wang
Non-strict control barrier function (CBF) conditions guarantee safety through forward invariance, but they do not preclude trajectories from remaining near the safe-set boundary fo…