202 citations · 563 across the 65 of their papers we have counts for
4 papers · 1 filter
Continuity and Boundedness of Minimum-Norm CBF-Safe Controllers
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and…
Distributionally Robust Lyapunov Function Search Under Uncertainty
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper develops methods for proving Lyapunov stability of dynamical systems subject to disturbances with an unknown distribution. We assume only a finite set of disturbance sam…
Control Synthesis for Stability and Safety by Differential Complementarity Problem
Yinzhuang Yi, Shumon Koga, Bogdan Gavrea +1
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lya…
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper considers enforcing safety and stability of dynamical systems in the presence of model uncertainty. Safety and stability constraints may be specified using a control bar…