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   Articles with "safe control" as a keyword



Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming

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

DOI: 10.1109/lcsys.2022.3231970

Abstract: Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use loose over-approximation… read more here.

Keywords: safety; control; control limits; safe control ... See more keywords

Data-Driven Safe Control of Discrete-Time Non-Linear Systems

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recommendations! Published in 2024 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2024.3412943

Abstract: This letter proposes a framework to perform verifiably safe control of all discrete-time non-linear systems that are compatible with collected data. Most safety-maintaining control synthesis algorithms (e.g., control barrier functions, density functions) are limited to… read more here.

Keywords: discrete time; time; control; safe control ... See more keywords

Safe Control Synthesis With Uncertain Dynamics and Constraints

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3182544

Abstract: This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control Lyapunov function (CLF)… read more here.

Keywords: safe control; worst case; control; control synthesis ... See more keywords

Safe Control Framework of Multi-Agent Systems From a Performance Enhancement Perspective

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recommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"

DOI: 10.1109/tase.2024.3466791

Abstract: In the control problems of multi-agent systems, collision avoidance is a fundamental safety requirement. One effective approach to ensure safety involves combining control barrier functions (CBFs) with quadratic programming (QP), where nominal control inputs are… read more here.

Keywords: agent systems; framework; control; multi agent ... See more keywords