Sufficient conditions for uniform asymptotic stability and input-to-state stability using high-order control barrier functions
Control barrier functions (CBFs) ensure the safety of controlled dynamical systems by
enforcing forward invariance of safe subsets of the state space. First-order CBFs are …
enforcing forward invariance of safe subsets of the state space. First-order CBFs are …
Barrier functions for robust safety in differential inclusions, part ii: The converse problem
M Ghanbarpour, M Maghenem - 2021 60th IEEE Conference …, 2021 - ieeexplore.ieee.org
The current paper proposes a converse robust-safety theorem, in terms of barrier functions,
for unconstrained differential inclusions. That is, an appropriate inequality involving a barrier …
for unconstrained differential inclusions. That is, an appropriate inequality involving a barrier …
On a strong robust-safety notion for differential inclusions
M Maghenem, D Karaki - IEEE Transactions on Automatic …, 2023 - ieeexplore.ieee.org
A dynamical system is strongly robustly safe provided that it remains safe in the presence of
a continuous and positive perturbation, named robustness margin, added to both the …
a continuous and positive perturbation, named robustness margin, added to both the …
Sufficient conditions for robust safety in differential inclusions using barrier functions
MA Maghenem, MG Mamaghani, A Saoud - Automatica, 2025 - Elsevier
This paper considers robust-safety notions for differential inclusions. A general framework is
proposed to certify the considered notions in terms of barrier functions. While most existing …
proposed to certify the considered notions in terms of barrier functions. While most existing …
A converse robust-safety theorem for differential inclusions
M Maghenem, M Ghanbarpour - arXiv preprint arXiv:2208.11364, 2022 - arxiv.org
This paper establishes the equivalence between robust safety and the existence of a barrier
function certificate for differential inclusions. More precisely, for a robustly-safe system, a …
function certificate for differential inclusions. More precisely, for a robustly-safe system, a …
Barrier Functions for Robust Safety in Differential Inclusions, Part III: Inner and Outer Perturbations
D Karaki, M Maghenem - 2023 American Control Conference …, 2023 - ieeexplore.ieee.org
This paper introduces a new robust-safety notion for differential inclusions. That is, we say
that the system is strongly robustly safe if it remains safe in the presence of a continuous and …
that the system is strongly robustly safe if it remains safe in the presence of a continuous and …