arXiv subjects

Zuodong Pan

Publications and source records attributed to Zuodong Pan.

2 recordsLinked to original sources

arXiv2026

Optimal Safety Control using High-Order Control Barrier Functions

This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel high-order control barrier functions (HOCBFs). Different from zeroing HOCBFs, two novel HOCBFs are derived and the safety controllers are designed in an explicit way. Next, we implement vector Lyapunov function approach to propose a novel high-order control Lyapunov function (HOCLF) for the stabilization control problem. The relations between the proposed and existing HOCBFs are discussed. Afterwards, the compatibility of the proposed HOCLF and HOCBF is addressed to guarantee the stabilization and safety control objectives simultaneously, and thus the optimal controller is established. Finally, a numerical example from the navigation problem of quadrotors is presented to illustrate the efficacy of the derived results.

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arXiv2026

Optimal Planning and Control under Signal Temporal Logic Specifications

This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local waypoints to satisfy all local tasks, from which the corresponding satisfaction pair sets are derived. Following a local-to-global strategy, all sequences of local waypoints are synthesized into a global one, based on which a safe corridor is then constructed. Leveraging the safe corridor and the satisfaction pair sets, an optimization problem is formulated and solved to derive a position trajectory that satisfies the STL task. Finally, numerical examples and comparative results are presented to demonstrate the efficacy of the proposed approach.

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