6 papers
Robust Adaptive Backup Control Barrier Functions
Ersin DaÅ, David E. J. van Wijk, Tamas G. Molnar +2
We propose a notion of robust adaptive backup control barrier functions for nonlinear control affine systems with parametric uncertainty in both the drift dynamics and actuation ma…
Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
David E. J. van Wijk, Tamas G. Molnar, Samuel Coogan +3
Guaranteeing the safety of controllers is vital for real-world applications, but is markedly difficult when the states are not perfectly known and when the control inputs are bound…
SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints
Pio Ong, David E. J. van Wijk, Massimiliano de Sa +2
Control barrier functions (CBFs) provide a principled framework for enforcing safety in control systems -- yet the certified safe operating region in practice is often conservative…
Uncertainty Estimators for Robust Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Anil Alan +5
Designing safe controllers is crucial and notoriously challenging for input-constrained safety-critical control systems. Backup control barrier functions offer an approach for the…
Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Tamas G. Molnar +2
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer…
Safe Multi-agent Satellite Servicing with Control Barrier Functions
Deep Parikh, David van Wijk, Manoranjan Majji
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists…