{"id":"https://openalex.org/W3139166379","doi":"https://doi.org/10.1109/lcsys.2021.3087443","title":"Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions","display_name":"Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions","publication_year":2021,"publication_date":"2021-06-08","ids":{"openalex":"https://openalex.org/W3139166379","doi":"https://doi.org/10.1109/lcsys.2021.3087443","mag":"3139166379"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2021.3087443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3087443","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.08041","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034352210","display_name":"An\u0131l Alan","orcid":"https://orcid.org/0000-0002-9778-8249"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anil Alan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","[Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA]"],"raw_orcid":"https://orcid.org/0000-0002-9778-8249","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017747186","display_name":"Andrew J. Taylor","orcid":"https://orcid.org/0000-0002-5990-590X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew J. Taylor","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","[Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":"https://orcid.org/0000-0002-5990-590X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064714785","display_name":"Chaozhe R. He","orcid":"https://orcid.org/0000-0002-0299-8412"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I80771471","display_name":"Navistar International (United States)","ror":"https://ror.org/03cd01b85","country_code":"US","type":"company","lineage":["https://openalex.org/I80771471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chaozhe R. He","raw_affiliation_strings":["Department of Advanced Technologies, Navistar Inc., Lisle, IL, USA","Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","[Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA]"],"raw_orcid":"https://orcid.org/0000-0002-0299-8412","affiliations":[{"raw_affiliation_string":"Department of Advanced Technologies, Navistar Inc., Lisle, IL, USA","institution_ids":["https://openalex.org/I80771471"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA]","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043415749","display_name":"G\u00e1bor Orosz","orcid":"https://orcid.org/0000-0002-9000-3736"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabor Orosz","raw_affiliation_strings":["Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9000-3736","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","[Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA]"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3044,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59840593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"6","issue":null,"first_page":"908","last_page":"913"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.668110728263855},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.6597659587860107},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5999661087989807},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5611765384674072},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.553328275680542},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5404324531555176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.531807541847229},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4984712600708008},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.47769004106521606},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44270190596580505},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35860133171081543},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1313144862651825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12038475275039673},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09104865789413452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07607674598693848}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.668110728263855},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.6597659587860107},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5999661087989807},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5611765384674072},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.553328275680542},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5404324531555176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.531807541847229},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4984712600708008},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.47769004106521606},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44270190596580505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35860133171081543},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1313144862651825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12038475275039673},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09104865789413452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07607674598693848},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lcsys.2021.3087443","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3087443","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2103.08041","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.08041","pdf_url":"https://arxiv.org/pdf/2103.08041","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3139166379","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.08041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:authors.library.caltech.edu:108587","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20210331-070249507","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"doi:10.48550/arxiv.2103.08041","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.08041","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.08041","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.08041","pdf_url":"https://arxiv.org/pdf/2103.08041","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4530460096","display_name":null,"funder_award_id":"CPS Award 1932091","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1607353007","https://openalex.org/W1615359958","https://openalex.org/W1980569135","https://openalex.org/W2560504659","https://openalex.org/W2569089411","https://openalex.org/W2620840602","https://openalex.org/W2735010720","https://openalex.org/W2789826932","https://openalex.org/W2887154784","https://openalex.org/W2903863464","https://openalex.org/W2914841292","https://openalex.org/W2925329277","https://openalex.org/W2968945909","https://openalex.org/W2971766219","https://openalex.org/W3005458448","https://openalex.org/W3012331565","https://openalex.org/W3024855617","https://openalex.org/W3080564557","https://openalex.org/W3098925401","https://openalex.org/W3154435961","https://openalex.org/W6719963912"],"related_works":["https://openalex.org/W3147298213","https://openalex.org/W3120023780","https://openalex.org/W2972756254","https://openalex.org/W3186304270","https://openalex.org/W3211131411","https://openalex.org/W2192784433","https://openalex.org/W2080721426","https://openalex.org/W2899683930","https://openalex.org/W2903115018","https://openalex.org/W29763100","https://openalex.org/W3028908922","https://openalex.org/W3201211119","https://openalex.org/W3086712598","https://openalex.org/W2808570522","https://openalex.org/W2325551134","https://openalex.org/W2119076895","https://openalex.org/W2356454939","https://openalex.org/W2036156465","https://openalex.org/W2376287668","https://openalex.org/W1964267398"],"abstract_inverted_index":{"To":[0],"bring":[1],"complex":[2],"systems":[3,33],"into":[4],"real":[5],"world":[6],"environments":[7],"in":[8,20,43,53],"a":[9,130,142,148],"safe":[10,87,101,143],"manner,":[11],"they":[12],"will":[13],"have":[14],"to":[15,18,76,140],"be":[16],"robust":[17],"uncertainties-both":[19],"the":[21,24,29,38,44,54,60,68,78,96],"environment":[22],"and":[23,137],"system.":[25,45],"This":[26,91],"letter":[27],"investigates":[28],"safety":[30,72,108],"of":[31,51,62,70,80,98,121],"control":[32,63,102,132],"under":[34,88],"input":[35,135],"disturbances,":[36],"wherein":[37],"disturbances":[39,110],"can":[40],"capture":[41],"uncertainties":[42],"Safety,":[46],"framed":[47],"as":[48],"forward":[49],"invariance":[50],"sets":[52],"state":[55,114],"space,":[56],"is":[57,74,92],"ensured":[58],"with":[59,113,129,134],"framework":[61],"barrier":[64,103],"functions":[65,104],"(CBFs).":[66],"Concretely,":[67],"definition":[69],"input-to-state":[71,100],"(ISSf)":[73],"generalized":[75],"allow":[77],"synthesis":[79],"non-conservative,":[81],"tunable":[82,99],"controllers":[83],"that":[84,111],"are":[85,127],"provably":[86],"varying":[89],"disturbances.":[90],"achieved":[93],"by":[94],"formulating":[95],"concept":[97],"(TISSf-CBFs),":[105],"which":[106],"guarantee":[107],"for":[109,147],"vary":[112],"and,":[115],"therefore,":[116],"provide":[117],"less":[118],"conservative":[119],"means":[120],"accommodating":[122],"uncertainty.":[123],"The":[124],"theoretical":[125],"results":[126],"demonstrated":[128],"simple":[131],"system":[133],"disturbance":[136],"also":[138],"applied":[139],"design":[141],"connected":[144],"cruise":[145],"controller":[146],"heavy":[149],"duty":[150],"truck.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
