Showing eess.SYShow all
2 papers · 1 filter
eess.SY2025
Computing Safe Control Inputs using Discrete-Time Matrix Control Barrier Functions via Convex Optimization
James Usevitch, Juan Augusto Paredes Salazar, Ankit Goel
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-…
eess.SY2025
Predictive Control Barrier Functions for Discrete-Time Linear Systems with Unmodeled Delays
Juan Augusto Paredes Salazar, James Usevitch, Ankit Goel
This paper introduces a predictive control barrier function (PCBF) framework for enforcing state constraints in discrete-time systems with unknown relative degree, which can be cau…