Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods. matlab control-theory clf safety-critical cbf control-lyapunov-functions ...

Department of Mechanical Engineering, University of Delaware, Newark, DE, United States; This paper reports on a new approach to Signal Temporal Logic (STL) control synthesis, that 1) utilizes a ...

This paper proposes a control barrier function (CBF)-based approach to ensure safe and efficient navigation of a unicycle-modeled mobile robot in complex environments. The proposed method combines a ...

Control Barrier Functions are safety certificates that can be used to design add-on control units that filter the control action provided to the system. The objective is to modify the input command as ...

Rollover prevention control for heavy vehicles with three degree of freedom has been firstly investigated within the framework of control barrier functions (CBF) in this paper. Through solving ...

2.3 Control Barrier and Control Lyapunov Functions 2.3.1 Control Barrier Functions. Let C be a set for which we wish to verify that x(t) ∈ C, ∀t. Then, C defines a safe set. A smooth function h (x): R ...

This presentation frames safety in a control-theoretic context, and thereby provides a formal answer to the question of how to ensure safe behavior on robotic system: control barrier functions (CBFs).

This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control. control-systems ...