4 papers
Safe Event-triggered Gaussian Process Learning for Barrier-Constrained Control
Armin Lederer, Azra BegzadiÄ, Sandra Hirche +2
While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical lim…
Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and ca…
Converse Theorems for Certificates of Safety and Stability
Pol Mestres, Jorge Cortés
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a…
Willems' Fundamental Lemma for Nonlinear Systems with Koopman Linear Embedding
Xu Shang, Jorge Cortés, Yang Zheng
Koopman operator theory and Willems' fundamental lemma both can provide (approximated) data-driven linear representation for nonlinear systems. However, choosing lifting functions…