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eess.SY2017★ 1 cited
Enhancing the performance of a safe controller via supervised learning for truck lateral control
Yuxiao Chen, Ayonga Hereid, Huei Peng +1
Correct-by-construction techniques, such as control barrier functions (CBFs), can be used to guarantee closed-loop safety by acting as a supervisor of an existing or legacy control…
eess.SY2013★ 14 cited
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
Kevin Galloway, Koushil Sreenath, Aaron D. Ames +1
This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking control…