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Control Barrier Function Based Quadratic Programs for Safety Critical Systems
This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers. Expand
Robustness of Control Barrier Functions for Safety Critical Control
This paper develops several important extensions to the notion of a control barrier function, including conditions for the control law obtained by solving the quadratic program to be Lipschitz continuous and therefore to gives rise to well-defined solutions of the resulting closed-loop system. Expand
Matrix expression and reachability analysis of finite automata
In this paper, we propose a matrix-based approach for finite automata and then study the reachability conditions. Both the deterministic and nondeterministic automata are expressed in matrix forms,Expand
Leader-following consensus of multi-agent systems over finite fields
The leader-following consensus problem of multi-agent systems over finite fields Fp is considered and sufficient conditions on system matrices and graph weights are provided for the followers to track the leader. Expand
Matrix Approach to Model Matching of Asynchronous Sequential Machines
Using semi-tensor product of matrices, an asynchronous machine is converted into a discrete-time bilinear system, and its dynamics is studied by investigating its structure matrices. Expand
Control barrier function based quadratic programs with application to bipedal robotic walking
The end result is the generation of stable walking satisfying physical realizability constraints for a model of the bipedal robot AMBER2. Expand
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control, and employs an assume-guarantee formalism between these two subsystems, such that they can be considered individually. Expand
Constrained control of input-output linearizable systems using control sharing barrier functions
This paper investigates a control-sharing property for multiple CBFs and provides sufficient and necessary conditions for the property to hold and studies the tracking control design problem of an input–output linearizable system with multiple time-varying output constraints. Expand
Bi-decomposition of multi-valued logical functions and its applications
The implicit function theorem (IFT) of k -valued functions, as a special bi-decomposition, is obtained and the normalization of dynamic–algebraic (D–A) Boolean networks is investigated using IFT of k-valued functions. Expand
Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems
This paper presents the SCvx algorithm, a successive convexification algorithm designed to solve non-convex optimal control problems with global convergence and superlinear convergence-rateExpand