3 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…
math.OC2024
Solvability of the Inverse Optimal Control problem based on the minimum principle
Afreen Islam, Guido Herrmann, Joaquin Carrasco
In this paper, the solvability of the Inverse Optimal Control (IOC) problem based on two existing minimum principal methods, is analysed. The aim of this work is to answer the ques…