Introduces recurrent tracking functions allowing transient tracking errors to construct recurrent control barrier functions that guarantee safety for initial states in a control τ-recurrent set for high-order nonlinear systems.
Convex synthesis and verification of control-lyapunov and barrier functions with input constraints
2 Pith papers cite this work. Polarity classification is still indexing.
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GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.
citing papers explorer
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Safety-Critical Control via Recurrent Tracking Functions
Introduces recurrent tracking functions allowing transient tracking errors to construct recurrent control barrier functions that guarantee safety for initial states in a control τ-recurrent set for high-order nonlinear systems.
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Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.