Bogdan Gavrea | Searcharxiv

arXiv2022

Control Synthesis for Stability and Safety by Differential Complementarity Problem

This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to define complementarity constraints in the DCP formulation to certify stability and safety, respectively. The CLF-CBF-DCP controller imposes stability as a soft constraint, which is automatically relaxed when the safety constraint is active, without the need for parameter tuning or optimization. We study the closed-loop system behavior with the CLF-CBF-DCP controller and identify conditions on the existence of local equilibria. Although in certain cases the controller yields undesirable local equilibria, those can be confined to a small subset of the safe set boundary by proper choice of the control parameters. Then, our method can avoid undesirable equilibria that CLF-CBF quadratic programming techniques encounter.

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arXiv2020

Maximizing The Distance To A "Far Enough" Point Over The Intersection Of Hyper-Disks

We present a novel feasibility criteria for the finite intersection of convex sets given by inequalities. This criteria allows us to easily assert the feasibility by analyzing the unconstrained minimum of a speci?fic convex function, that we form with the given sets. Next an algorithm is presented which extends the idea to a particular non-convex case: assert the inclusion of the fi?nite intersection of a set of hyper-disks with equal radii in another hyper-disk with a different radius.

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arXiv2018

On a convexity problem

This work is a continuation of what was done in a previous paper and strongly connected to the recent work of U. Abel and I. Rasa [arXiv:1707.00127]

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