Learning Control Barrier Functions with High Relative Degree for Safety-Critical Control

Mapping Intimacies ◽

10.23919/ecc54610.2021.9655206 ◽

2021 ◽

Author(s):

Chuanzheng Wang ◽

Yiming Meng ◽

Yinan Li ◽

Stephen L. Smith ◽

Jun Liu

Keyword(s):

Learning Control ◽

Relative Degree ◽

Barrier Functions ◽

Safety Critical

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Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints

2016 American Control Conference (ACC) ◽

10.1109/acc.2016.7524935 ◽

2016 ◽

Author(s):

Quan Nguyen ◽

Koushil Sreenath

Keyword(s):

Relative Degree ◽

Barrier Functions ◽

Safety Critical ◽

Critical Constraints

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Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions

2020 59th IEEE Conference on Decision and Control (CDC) ◽

10.1109/cdc42340.2020.9303776 ◽

2020 ◽

Author(s):

Prithvi Akella ◽

Mohamadreza Ahmadi ◽

Richard M. Murray ◽

Aaron D. Ames

Keyword(s):

Autonomous Systems ◽

Barrier Functions ◽

Safety Critical ◽

Test Synthesis ◽

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Sampled-data iterative learning control with well-defined relative degree

International Journal of Robust and Nonlinear Control ◽

10.1002/rnc.919 ◽

2004 ◽

Vol 14 (8) ◽

pp. 719-739 ◽

Author(s):

Mingxuan Sun ◽

Danwei Wang ◽

Youyi Wang

Keyword(s):

Iterative Learning Control ◽

Learning Control ◽

Iterative Learning ◽

Relative Degree ◽

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Robustness of Control Barrier Functions for Safety Critical Control**This work is partially supported by the National Science Foundation Grants 1239055, 1239037 and 1239085.

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2015.11.152 ◽

2015 ◽

Vol 48 (27) ◽

pp. 54-61 ◽

Author(s):

Xiangru Xu ◽

Paulo Tabuada ◽

Jessy W. Grizzle ◽

Aaron D. Ames

Keyword(s):

National Science Foundation ◽

Barrier Functions ◽

Safety Critical ◽

National Science

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Robustness of iterative learning control for higher relative degree nonlinear systems

The 2002 International Conference on Control and Automation, 2002. ICCA. Final Program and Book of Abstracts. ◽

10.1109/icca.2002.1229383 ◽

2005 ◽

Author(s):

Mingxuan Sun ◽

Youyi Wang ◽

Danwei Wang

Keyword(s):

Nonlinear Systems ◽

Iterative Learning Control ◽

Learning Control ◽

Iterative Learning ◽

Relative Degree

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Previous best input based first order D-type iterative learning control for nonlinear system with high order relative degree

2016 Chinese Control and Decision Conference (CCDC) ◽

10.1109/ccdc.2016.7532186 ◽

2016 ◽

Author(s):

Yi Liu ◽

Shan Liu

Keyword(s):

Nonlinear System ◽

Iterative Learning Control ◽

Learning Control ◽

Iterative Learning ◽

Relative Degree ◽

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Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

IEEE Control Systems Letters ◽

10.1109/lcsys.2020.3005101 ◽

2021 ◽

Vol 5 (3) ◽

pp. 749-754

Author(s):

Andrew J. Taylor ◽

Pio Ong ◽

Jorge Cortes ◽

Aaron D. Ames

Keyword(s):

Critical Event ◽

Barrier Functions ◽

Safety Critical ◽

Event Triggered

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Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds

2015 American Control Conference (ACC) ◽

10.1109/acc.2015.7171033 ◽

2015 ◽

Author(s):

Guofan Wu ◽

Koushil Sreenath

Keyword(s):

Geometric Control ◽

Control Synthesis ◽

Barrier Functions ◽

Safety Critical ◽

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Open-Closed-Loop Iterative Learning Control for Discrete-time Systems with Vector Relative Degree under Iterative Varying Duration

2020 IEEE 9th Data Driven Control and Learning Systems Conference (DDCLS) ◽

10.1109/ddcls49620.2020.9275093 ◽

2020 ◽

Author(s):

Yun-Shan Wei ◽

Zhi-Bin Weng ◽

Teng-Fei Xiao

Keyword(s):

Discrete Time ◽

Iterative Learning Control ◽

Closed Loop ◽

Learning Control ◽

Iterative Learning ◽

Relative Degree ◽

Discrete Time Systems ◽

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Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators

IEEE Control Systems Letters ◽

10.1109/lcsys.2020.3046159 ◽

2020 ◽

pp. 1-1

Author(s):

Carl Folkestad ◽

Yuxiao Chen ◽

Aaron D. Ames ◽

Joel W. Burdick

Keyword(s):

Data Driven ◽

Barrier Functions ◽

Safety Critical

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