Passivity-Based Control with Guaranteed Safety via Interconnection and Damping Assignment

A modeling framework and flux controller for free molecular flow deposition processes

“…g B(⇠) = 0. Based on the ES-CLBF and the ES-CLF control laws, we can propose a simple hybrid automaton controller (as considered also in our previous work in [23]) to stabilize the origin with guaranteed transient behavior as follows. We consider two automata where the domains are given by P clf&cbf and P clf , while the guards are given by the boundary of P clf&cbf and P clf , respectively.…”

On the sufficient conditions for input-to-state safety

“…In this context, the inequality (13) resembles the dissipation inequality in the ISS Lyapunov function and the growth of B as in (12) can be likened to the growth of V as in (4), albeit they grow with different sign as well as with different metric norm.…”

“…Let B(ξ ) = W (ξ ) − c for all ξ ∈ X \D. Subsequently, let the function B be extended smoothly to ξ ∈ R n \X so that (12) holds for all R n \D. It follows from (16) that…”

“…The notion can be used to describe the robustness of a number of safety control designs which have recently been proposed in literature. To name a few, we refer to our approach based on control Lyapunov-Barrier function in [12], [13] and to the min-norm control approach using quadratic programming as in [1], [3], [8], [19].…”

On the new notion of input-to-state safety

“…To name a few, we refer interested readers to [1], [20], [15] and [16]. In [1] and [20], the authors proposed an optimization problem, in the form of a quadratic programming, where both control Lyapunov and control Barrier inequalities are formulated in the constraints.…”