no code implementations • 22 Sep 2023 • Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames
Optimization-based safety filters, such as control barrier function (CBF) based quadratic programs (QPs), have demonstrated success in controlling autonomous systems to achieve complex goals.
no code implementations • 18 Apr 2023 • Gilbert Bahati, Pio Ong, Aaron D. Ames
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety.
no code implementations • 18 Apr 2023 • Pio Ong, Aaron D. Ames
Our first trigger in the scheme monitors safety constraints encoded by barrier functions, and thereby ensures safety without the need to alter the nominal controller--and when the boundary of the safety constraint is approached, the controller drives the system to the region where control actions are not needed.
no code implementations • 6 Apr 2022 • Pio Ong, Gilbert Bahati, Aaron D. Ames
Motivated by the event-triggered control paradigm, where state-dependent triggers are utilized in a sample-and-hold context, we generalize this concept to include state triggers where the controller is off thereby creating a framework for intermittent control.
no code implementations • 1 Apr 2022 • Andrew J. Taylor, Pio Ong, Tamas G. Molnar, Aaron D. Ames
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators.
