Скачать или смотреть Preserving Stability Guarantees in Safe Control - Prof. Ankit Goel, UMBC

Over the past decade, Control Barrier Functions (CBFs) have emerged as a leading framework for enforcing state constraints in control system design. The central principle is the enforcement of forward invariance of a “safe set” defined by the constraints. The origins of this idea trace back to Nagumo’s invariance condition in the 1940s, followed by a brief focus on Barrier Lyapunov Functions in the 2000s, and the resurgence of CBFs in the mid-2010s. While CBFs provide a powerful tool for safety enforcement, they operate primarily as filters that modify a nominal control input to satisfy invariance conditions. This separation of safety enforcement from controller design can alter closed-loop stability and, in complex systems, may fail to guarantee safety.
In this talk, I will introduce a new framework for constrained control that unifies stability and safety enforcement within a single design procedure. By integrating state constraints directly into the control synthesis step, the approach preserves the rigor of classical Lyapunov-based analysis while ensuring forward invariance of the prescribed safe set, opening new directions for the reliable control of safety-critical dynamical systems.