Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
Constrained control of input–output linearizable systems using control sharing barrier functions
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A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
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Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
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Disentangled Control of Multi-Agent Systems
A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.