Safety-Critical Control

Overview

Safety-critical control addresses the problem of designing controllers for nonlinear systems that are guaranteed to remain within safe operating regions, even under bounded disturbances and input constraints. My research uses Barrier Lyapunov functions (BLF) and Control Barrier Functions (CBF) to design provably safe controllers that simultaneously achieve control objectives without violating safety constraints.

Applications include autonomous vehicles with velocity and attitude constraints, systems with bounded actuators, and multi-constraint scenarios where multiple safety conditions must be satisfied simultaneously.

Key Contributions

• BLF-based controllers for state-constrained trajectory tracking of UAVs.

• Provably safe control for constrained nonlinear systems with bounded inputs.

• CBF-based approaches for simultaneous satisfaction of multiple safety constraints.

• Formal safety certificates with convergence guarantees under uncertainty.

Relevant Publications