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math.OC2025
Risk-Aware Adaptive Control Barrier Functions for Safe Control of Nonlinear Systems under Stochastic Uncertainty
Shuo Liu, Calin A. Belta
This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism…
math.OC2024
Feasibility-Guaranteed Safety-Critical Control with Applications to Heterogeneous Platoons
Shuo Liu, Wei Xiao, Calin A. Belta
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic…
math.OC2024
Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications
Shuo Liu, Wei Xiao, Calin A. Belta
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic…