2 papers
eess.SY2025
Safe Sliding Mode Control in Position for Double Integrator Systems
Marco A. Gomez, Christopher D. Cruz-Ancona
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to cons…
eess.SY2024
Perturbed Integrators Chain Control via Barrier Function Adaptation and Lyapunov Redesign
Manuel A. Estrada, Claudia A. Pérez-Pinacho, Christopher D. Cruz-Ancona +1
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates t…