A relaxation term is added to the Quadratic Programs (QP) combining the transformed Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs), to mediate the potential conflict. The existing Lyapunov-based adaptive schemes designed to guarantee specific properties of the Lyapunov functions...
Adaptive safety with Control Barrier Functions and triggered Batch Least-Squares Identifier Automatica Volume 173, March 2025, Page 112059 Purchase options CorporateFor R&D professionals working in corporate organizations. Academic and personalFor academic or personal use only. Looking for a customized optio...
Therefore, this paper adopts the hyperbolic tangent function to approximate control saturation constraint, and adopts the mean value theorem to convert the nonlinear constraint of control input into the control input offline functions simplify controller design. Based on the above analysis for the actual...
First, the barrier function is utilized to design a smooth penalty function in the cost function, thereby transforming the avoidance problem into an unconstrained optimal control problem. Then, adaptive reinforcement learning is implemented by using an actor-critic neural network architecture and policy ...
Firstly, a finite-time approach is designed to achieve attitude tracking control of the rigid spacecraft in absence of disturbances and inertia uncertainties and the time of convergence can be chosen in advance. Then, the integral sliding mode combined with barrier function-based adaptive laws is ...
In this paper, the authors propose an adaptive Barrier-Lyapunov-Functions (BLFs) based control scheme for nonlinear pure-feedback systems with full state c
Now the control parameter is a function of system state and this control parameter is updated at every instant based on the positive semi-definite barrier function given by (12) $$ \widehat{K}(x)=\frac{\left|x\right|}{\Gamma -\left|x\right|} $$ ...
Most advanced control methods are based on a good understanding of the process and its environment. Laplace transfer functions or differential equations are used to represent the process dynamics. In many process control applications, however, the dynamics may be too complex or the physical process ...
The proposed methodology is based on admittance control, exponential control barrier functions (ECBFs), and quadratic program (QP) to achieve compliance during the force interaction between human and robot, while simultaneously guaranteeing safety constraints. In particular, the formulation of admittance ...
A Nussbaum function is used to handle the unknown control coefficient derived from the output dead zone, and barrier Lyapunov functions are employed to handle full state constraints. To counteract the effects of disturbance and uncertainty, the robust compensator is constructed. In addition, it is ...