Control-Lyapunov function

A control Lyapunov function approach to multiagent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 388 • 2002

An Improved Artificial Potential Field Method for Path Planning and Formation Control of the Multi-UAV Systems

Zhenhua Pan, Chengxi Zhang, Yuanqing Xia, Hao Xiong, Xiaodong Shao

Citations: 378 • 2021

High-Order Control Barrier Functions

Wei Xiao, Călin Belta

Citations: 334 • 2021

Stabilization with guaranteed safety using Control Lyapunov–Barrier Function

Muhammad Zakiyullah Romdlony, Bayu Jayawardhana

Citations: 329 • 2016

Adaptive Finite-Time Stabilization of Stochastic Nonlinear Systems Subject to Full-State Constraints and Input Saturation

Huifang Min, Shengyuan Xu, Zhengqiang Zhang

Citations: 298 • 2020

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

Seyed Mohammad Khansari-Zadeh, Aude Billard

Citations: 224 • 2014

Control barrier function based quadratic programs with application to bipedal robotic walking

Shao‐Chen Hsu, Xiangru Xu, Aaron D. Ames

Citations: 201 • 2015

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs

Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle

Citations: 170 • 2015

3D dynamic walking on stepping stones with control barrier functions

Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath

Citations: 124 • 2016

Sliding-Mode Control of Full-State Constraint Nonlinear Systems: A Barrier Lyapunov Function Approach

David Cruz‐Ortiz, Isaac Chaírez, Alexander S. Poznyak

Citations: 105 • 2022

A control Lyapunov function approach to multi-agent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 96 • 2002

Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs

Quan Nguyen, Koushil Sreenath

Citations: 69 • 2015

A control Lyapunov function approach to multi-agent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 55 • 2003

Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility

Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath

Citations: 54 • 2021

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames

Citations: 49 • 2020

L<inf>1</inf> adaptive control for bipedal robots with control Lyapunov function based quadratic programs

Quan Nguyen, Koushil Sreenath

Citations: 47 • 2015

Nonlinear PID Control with Partial State Knowledge: Damping without Derivatives

Brian Armstrong, Bruce A. Wade

Citations: 45 • 2000

Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems

Citations: 45 • 2019

Controller design for a class of underactuated nonlinear systems

Reza Olfati‐Saber, Alexandre Megretski

Citations: 43 • 2002

Feedback control of a two wheeled mobile robot with obstacle avoidance using potential functions

Takateru Urakubo, Kenji OKUMA, Yasuomi Tada

Citations: 41 • 2005