2 papers
eess.SY2026
Safe Stabilising Full-Order Affine Control Barrier Functions for Linear Systems (Extended)
Faisal Lawan, Joaquin Carrasco, Lanlan Su
Control barrier function safety filters enforce constraints by modifying a nominal input, but the resulting switching can destabilise the closed loop even when the nominal and filt…
cs.RO2026
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitat…