Results 11 to 20 of about 237,894 (262)
Applied Sciences, 2020 This paper develops a totally new appointed-time integral barrier Lyapunov function-based trajectory tracking algorithm for a hovercraft in the presence of multiple performance constraints and model uncertainties.
Mingyu Fu +3 more
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Control Barrier Function Based Quadratic Programs for Safety Critical Systems [PDF]
, 2016 Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive applications ...
Ames, Aaron D. +3 more
core +2 more sources
IEEE Access, 2019 This paper presents a barrier Lyapunov function based nonsingular fast terminal sliding mode control with fixed-time non-recursive disturbance observer for the blended-wing-body (BWB) aircraft in the presence of mismatched disturbances and output ...
Zhirun Chen +3 more
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Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function
IEEE Access, 2021 This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties.
Rameez Khan +5 more
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SOS Construction of Compatible Control Lyapunov and Barrier Functions
IFAC-PapersOnLine, 2023 We propose a novel approach to certify closed-loop stability and safety of a constrained polynomial system based on the combination of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs). For polynomial systems that are affine in the control input, both classes of functions can be constructed via Sum Of Squares (SOS) programming ...
Schneeberger, Michael +2 more
openaire +3 more sources
Control Lyapunov-Barrier function-based model predictive control of nonlinear systems
Automatica, 2018 zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Wu, Zhe +5 more
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Actuators, 2022 An adaptive neural control for uncertain 2DOF helicopter systems with input saturation and time-varying output constraints is provided. A radial basis function neural network is used to estimate the uncertainty terms present in the system. The saturation
Bing Wu +4 more
doaj +1 more source
Characterizations of safety in hybrid inclusions via barrier functions [PDF]
, 2019 This paper investigates characterizations of safety in terms of barrier functions for hybrid systems modeled by hybrid inclusions. After introducing an adequate definition of safety for hybrid inclusions, sufficient conditions using continuously ...
Persidskii K. P. +3 more
core +1 more source
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
, 2021 Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust feedback controllers with safety and stability guarantees.
Dawson, Charles +3 more
openaire +2 more sources
IEEE Access, 2019 This paper presents an adaptive output feedback control for a manipulator under the presence of the time-varying output constraint and uncertainties. The proposed control is formulated based on a nonlinear extended state observer and a barrier Lyapunov ...
Duc Thien Tran +2 more
doaj +1 more source