An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.
Prescribed-time reach-avoid-stay specifications for unknown systems: A spatiotemporal tubes approach.IEEE Control Systems Letters, 8:946–951
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GSTC is a computationally light, model-free control framework that enforces hard safety bounds on blood glucose under bounded disturbances and parametric uncertainty.
A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.
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An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.
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GSTC is a computationally light, model-free control framework that enforces hard safety bounds on blood glucose under bounded disturbances and parametric uncertainty.
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A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.