Seminar 1: BrIAS Fellow Prof. Marco Nicotra
Systematic Design of Control Barrier Functions using Dynamic Safety Margins
Abstract: Control Barrier Functions (CBFs) have become a popular tool for constrained control due to their low computational cost and good performance. Unfortunately, the widespread use of CBFs is limited by the absence of a systematic method to design them for general systems. In this talk, we will draw a parallel between CBFs and Reference Governors (RGs). Doing so will allow us to use existing tools from the RG literature to systematically design CBFs for nonlinear systems with multiple state-and-input constraints and arbitrary relative degree.
Seminar 2: BrIAS Junior Fellow Dr. Elias Fernández Domingos
TBD
Abstract:
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