This paper generalizes results on synergistic hybrid feedback control. Specifically, we propose a generalized definition of synergistic Lyapunov functions and feedbacks which allows the logic variable in traditional ...

In this paper, we propose a hybrid adaptive feedback control law for global asymptotic tracking control for marine surface vehicles in the presence of parametric uncertainties. The hybrid feedback is derived from a family ...

This paper introduces hysteretic control Lyapunov functions (HCLFs) for hybrid feedback control of a class of continuous-time systems. A family of HCLFs consists of local control Lyapunov functions defined on open domains, ...

This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) ...

Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous ...

This thesis presents new results and solutions for prioritized control of robotic systems and hybrid feedback control of marine and aerial vehicles. We introduce a novel task-priority framework for redundant robotic systems ...

Autonomous surface vehicles (ASVs) are safety-critical systems that must provide strict safety guarantees such as collision avoidance to enable fully autonomous operations. This paper presents a unified framework for ...

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The ...

To enable autonomous vehicles to operate in cluttered and unpredictable environments with numerous obstacles, such vehicles need a collision avoidance system that can react to and handle sudden changes in the environment. ...