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   Articles with "control barrier" as a keyword



Enhancing Safety in Model‐Based Reinforcement Learning With High‐Order Control Barrier Functions

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recommendations! Published in 2025 at "International Journal of Robust and Nonlinear Control"

DOI: 10.1002/rnc.7888

Abstract: Due to the risk of taking unsafe actions in unknown environment dynamics, reinforcement learning (RL) algorithms with built‐in safety guarantees to prevent unexpected accidents has received increasing attention. Introducing the control barrier function is a… read more here.

Keywords: control; safety; model based; control barrier ... See more keywords

Zeroing Control Barrier Functions for Safe Volitional Pedaling in a Motorized Cycle

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2021.04.100

Abstract: A minimally restrictive robust controller is developed for a motorized rehabilitative cycling system. The controller yields a forced-use movement therapy that constrains the rider’s cadence to remain within a user-defined range. The controller is designed… read more here.

Keywords: cadence; control; control barrier; zeroing control ... See more keywords

Control barrier function-based fixed-time spacecraft attitude control under pointing constraints

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recommendations! Published in 2025 at "International Journal of Control"

DOI: 10.1080/00207179.2025.2480637

Abstract: This paper investigates the optimal spacecraft reorientation issue while adhering to attitude pointing and actuator constraints. To handle the second-order nature of the pointing constraint in the attitude dynamics, a high-order control barrier function (HOCBF)… read more here.

Keywords: control; fixed time; control barrier; barrier function ... See more keywords

Control Barrier Functions for Signal Temporal Logic Tasks

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recommendations! Published in 2019 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2018.2853182

Abstract: The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing methods are computationally demanding and hence often not applicable in practice. Especially with respect to multi-robot… read more here.

Keywords: control; control barrier; logic tasks; signal temporal ... See more keywords

Control Barrier Function-Based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria

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recommendations! Published in 2021 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2020.3004797

Abstract: Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a… read more here.

Keywords: barrier function; control; control barrier; quadratic programs ... See more keywords

Integral Control Barrier Functions for Dynamically Defined Control Laws

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recommendations! Published in 2021 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2020.3006764

Abstract: This letter introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in… read more here.

Keywords: control; control barrier; dynamically defined; barrier functions ... See more keywords

Control Barrier Functions in Sampled-Data Systems

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recommendations! Published in 2021 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2021.3076127

Abstract: This letter presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the conservativeness of sufficient conditions on… read more here.

Keywords: time; sampled data; control barrier; barrier functions ... See more keywords

A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

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recommendations! Published in 2022 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2021.3133418

Abstract: We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g., passivity-based) while still ensuring… read more here.

Keywords: control barrier; barrier function; control; robust multiple ... See more keywords

Abstraction-Based Control Under Quantized Observation With Approximate Opacity Using Symbolic Control Barrier Functions

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recommendations! Published in 2022 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2021.3135082

Abstract: The notion of opacity refers to a condition that external observers cannot distinguish between secret and non-secret states, which is important for security of a plant. On the other hand, the authors have recently proposed… read more here.

Keywords: control barrier; control; abstraction based; symbolic control ... See more keywords
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Robust Control Barrier Functions With Sector-Bounded Uncertainties

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recommendations! Published in 2022 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2021.3136653

Abstract: This letter focuses on safety-critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach to enforce safety requirements… read more here.

Keywords: control; control barrier; sector bounded; robust control ... See more keywords

Strict Zeroing Control Barrier Function for Continuous Safety Assist Control

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recommendations! Published in 2022 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2021.3138526

Abstract: Control barrier functions (CBFs) have been yielding successful implementations in various control strategies. In this letter, we propose a human assist controller using a zeroing CBF (ZCBF). To ensure the forward-completeness of every solution to… read more here.

Keywords: zcbf; safety; control barrier; assist ... See more keywords