21 papers · ranked by Valyu relevance
Aaron D. Ames, Gennaro Notomista, Y. Wardi, Magnus Egerstedt
—This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically…
Logan E. Beaver
to Control Bounds Authors: ['Logan E. Beaver'] Abstract— This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads to a safety violation…
Caio Igor Gonçalves Chinelato, Bruno Augusto Angélico
— This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety constraints, expressed as control barrier functions are unified through quadratic…
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
— In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we first construct a governing augmented state space model consisting of the equations of motion of the original system, the integral control law…
Shreenabh Agrawal, Manan Tayal, Aditya Singh, Shishir Kolathaya
— As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific applications remains a significant challenge. With the advent of deep…
Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista + 2 more
It is easy to agree that any engineered system should be designed to be safe. In fact, the term safety-critical system is many times used to distinguish those systems for which safety is a major design consideration. But what exactly is safety? How do we define it and how can we design systems to achieve it? The notion…
Mouhyemen Khan, Munzir Zafar, Abhijit Chatterjee
— Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic programming (QP) based approach on a cascaded control architecture for quadrotors to…
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
—In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by checking their higher order derivatives. The proposed formulation guarantees asymptotic stability of the forward invariant set, which is highly…
Chunbin Qin, Xiaopeng Qiao, Jinguang Wang, Dehua Zhang + 2 more
'Ravi P. Agarwal' 'Maria Alessandra Ragusa'] In this paper, a robust trajectory tracking control method with state constraints and uncertain disturbances on the ground of adaptive dynamic programming (ADP) is proposed for nonlinear systems. Firstly, the augmented system consists of the tracking error and the reference…
Axton Isaly, Brendon C. Allen, Ricardo G. Sanfelice, Warren E. Dixon
Stationary motorized cycling assisted by functional electrical stimulation (FES) is a popular therapy for people with movement impairments. Maximizing volitional contributions from the rider of the cycle can lead to long-term benefits like increased muscular strength and cardiovascular endurance. This paper develops a…
Frederik Vinter-Hviid, Christoffer Sloth, Thiusius Rajeeth Savarimuthu, Iñigo Iturrate
'Thiusius Rajeeth Savarimuthu' 'Iñigo Iturrate'] In robotics, active exploration and learning in uncertain environments must take into account safety, as the robot may otherwise damage itself or its surroundings. This paper presents a method for safe active search using Bayesian optimization and control barrier…
Babli Adhikary, Alexander Chang, Atsuko Y. Higashi, Hideki Chiba + 2 more
Cell-cell junctions are essential for epithelial integrity and barrier function, but the mechanisms regulating their remodeling remain unclear. Here, we investigated the role of the junctional kinase PAK4 in vertex remodeling. PAK4 localized to apical junctions and accumulated at multicellular vertices in MCDK cells…
Khalid A. Alattas, Omid Mofid, Abdullah K. Alanazi, Hala M. Abo-Dief + 4 more
'Andrzej Bartoszewicz' 'Mohsen Bakouri' 'Saleh Mobayen' 'Biswajeet Pradhan'] This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the…
Noah C. Ford, Rachel E. Benedeck, Matthew T. Mattoon, Jamie K. Peterson + 6 more
Our skin provides a protective barrier that shields us from our environment. Barrier function is typically associated with interfollicular epidermis; however, whether hair follicles influence this process remains unclear. Here, we utilize a potent genetic tool to probe barrier function by conditionally ablating a…
Sanghyeon Lee, Youngjin Park
A circular active noise barrier using a theoretically calculated control filter without real-time adaptation was proposed for noise reduction in a specific outdoor space. A compact circular barrier is used for the movable system to cope with changes in the location of the workspace, and noise in a wide frequency band…
Zhongjun Yang, Chuyan Dong, Xinyu Zhang, Guogang Wang
We investigate the tracking control problem for a non-strict feedback nonlinear system with external disturbance and time-varying asymmetric full state constraints. Firstly, the unknown nonlinear term with external disturbance in the system are estimated by fuzzy logic system. The backstepping method is applied to the…
Oleg Chebotarev, Alisa Ugodnikov, Craig A. Simmons
Cell culture models of endothelial and epithelial barriers typically use porous membrane inserts (e.g., Transwell inserts) as a permeable substrate on which barrier cells are grown, often in co-culture with other cell types on the opposite side of the membrane. Current methods to characterize barrier function in porous…
Julia Derk, Christina N. Como, Hannah E. Jones, Luke R. Joyce + 5 more
Barriers at the level of the brain endothelium, choroid plexus, and meninges strictly regulate movement of molecules and cells into and out of the central nervous system (CNS). In contrast to the blood-brain barrier and choroid plexus epithelial barrier, developmental timing and function of the meningeal arachnoid…
Authors not listed
How to accelerate a reaction has been a critical question in physical organic chemistry, eliciting multiple models describing the interplay between kinetics and thermodynamic driving forces. However, existing models often come with inevitable limitations: valid only within finite thermodynamic ranges, rely on heavy…
Authors not listed
This paper formally defines an operational isomorphism between spectral damping in molecular vibronic systems and neuromodulatory control in biological sensory systems. Without asserting causal continuity or physical identity across scales, we show that both domains instantiate the same class of output-selective…
Authors not listed
We develop a control-oriented model for manipulating calcium carbonate (CaCO3) precipitation through pH and/or dissolved CO2(aq) adjustments in a semi-batch process. We present two open-loop control strategies: first, a closed-form optimal control solution derived via Pontryagin’s Minimum Principle; and second, an…