3 papers
math.OC2026
Observer design for classes of nonlinear port-Hamiltonian systems
Filippo Ugolini, Ning Liu, Yongxin Wu +2
This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range o…
eess.SY2025
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli +1
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and th…
eess.SY2025
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…