Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and
control theory towards designing safety-critical systems. Instead of following the time-tested …

In control theory, complicated dynamics such as systems of (nonlinear) differential equations
are controlled mostly to achieve stability. This fundamental property, which can be with …

We approach the problem of stabilizing a dynamical system while optimizing a cost and
satisfying safety constraints and control limitations. For (nonlinear) affine control systems …

In this article, a novel adaptive tracking control technique is developed for multiple-input-
multiple-output nonlinear systems with model uncertainty and under output constraints …

This paper extends control barrier functions (CBFs) to high order control barrier functions
(HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are …

We consider the problem of designing distributed collision-avoidance multi-agent control in
large-scale environments with potentially moving obstacles, where a large number of agents …

In this article, we propose a notion of high-order (zeroing) barrier functions (HOBFs) that
generalizes the concept of zeroing barrier functions and guarantees set forward invariance …

It has been shown that optimizing quadratic costs while stabilizing affine control systems to
desired (sets of) states subject to state and control constraints can be reduced to a sequence …

Real-time controllers must satisfy strict safety requirements. Recently, Control Barrier
Functions (CBFs) have been proposed that guarantee safety by ensuring that a suitably …

It has been shown that satisfying state and control constraints while optimizing quadratic
costs subject to desired (sets of) state convergence for affine control systems can be …