{"id":"https://openalex.org/W4293370543","doi":"https://doi.org/10.1109/tac.2022.3202088","title":"Event-Triggered Control for Safety-Critical Systems With Unknown Dynamics","display_name":"Event-Triggered Control for Safety-Critical Systems With Unknown Dynamics","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4293370543","doi":"https://doi.org/10.1109/tac.2022.3202088"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2022.3202088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2022.3202088","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058590941","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0001-9622-6415"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, USA"],"raw_orcid":"https://orcid.org/0000-0001-9622-6415","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086742095","display_name":"C\u0103lin Belta","orcid":"https://orcid.org/0000-0002-7141-2657"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Calin Belta","raw_affiliation_strings":["Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, Brookline, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7141-2657","affiliations":[{"raw_affiliation_string":"Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, Brookline, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047685950","display_name":"Christos G. Cassandras","orcid":"https://orcid.org/0000-0002-1625-7658"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos G. Cassandras","raw_affiliation_strings":["Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, Brookline, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1625-7658","affiliations":[{"raw_affiliation_string":"Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, Brookline, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6494,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90067028,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.995199978351593,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.7287971377372742},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5382807850837708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5359479188919067},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5234355926513672},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5127390623092651},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.48868611454963684},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48480525612831116},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.46672120690345764},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43960943818092346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4080279469490051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35068953037261963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28316909074783325},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20766013860702515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1376693844795227},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12586554884910583}],"concepts":[{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.7287971377372742},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5382807850837708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5359479188919067},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5234355926513672},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5127390623092651},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.48868611454963684},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48480525612831116},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.46672120690345764},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43960943818092346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4080279469490051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35068953037261963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28316909074783325},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20766013860702515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1376693844795227},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12586554884910583},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2022.3202088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2022.3202088","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2463915868","display_name":null,"funder_award_id":"FA9550-19-1-0158","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320315144","display_name":"MathWorks","ror":"https://ror.org/01n8qtk87"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1749724378","https://openalex.org/W1972149633","https://openalex.org/W1978518835","https://openalex.org/W1980569135","https://openalex.org/W1986164962","https://openalex.org/W2023250353","https://openalex.org/W2026616272","https://openalex.org/W2033118636","https://openalex.org/W2062373349","https://openalex.org/W2234962923","https://openalex.org/W2291992886","https://openalex.org/W2318645474","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2620840602","https://openalex.org/W2796061040","https://openalex.org/W2841721725","https://openalex.org/W2973005513","https://openalex.org/W2996109218","https://openalex.org/W2996196387","https://openalex.org/W3011888914","https://openalex.org/W3012147750","https://openalex.org/W3104608980","https://openalex.org/W3119686839","https://openalex.org/W3148528090","https://openalex.org/W3168522732","https://openalex.org/W3185320737","https://openalex.org/W3198223691","https://openalex.org/W3206495240","https://openalex.org/W4241586728","https://openalex.org/W4250589301","https://openalex.org/W6771484861","https://openalex.org/W6772100842","https://openalex.org/W6800976935"],"related_works":["https://openalex.org/W4285388621","https://openalex.org/W2771706547","https://openalex.org/W1983059685","https://openalex.org/W2190128593","https://openalex.org/W2142014702","https://openalex.org/W2954026430","https://openalex.org/W2591450570","https://openalex.org/W2954683843","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,64,79,123,140,145,153,158,173,188,217,220,244,249],"problem":[4,101,156,232,237],"of":[5,47,63,75,162,169,190,219],"safety-critical":[6,154],"control":[7,24,39,116,155,226,231],"for":[8,135,203,207],"multi-agent":[9],"systems":[10,25,208],"with":[11,209,248],"unknown":[12,15,108,210],"dynamics":[13,74,109,117,147,211],"in":[14,67,78],"environments.":[16],"It":[17],"has":[18],"been":[19],"shown":[20],"that":[21,118,171,186],"stabilizing":[22],"affine":[23,115],"to":[26,36,44],"desired":[27],"(sets":[28],"of)":[29],"states":[30,125],"while":[31],"optimizing":[32],"quadratic":[33,48],"costs":[34],"subject":[35],"state":[37,204],"and":[38,57,95,148,151,175,233],"constraints":[40],"can":[41,199],"be":[42,201],"reduced":[43],"a":[45,104,133,136,167,184,191,224,234],"sequence":[46,161],"programs":[49],"(QPs)":[50],"by":[51,102,127],"using":[52,238],"Control":[53,58],"Barrier":[54],"Functions":[55,60],"(CBFs)":[56],"Lyapunov":[59],"(CLFs).":[61],"One":[62],"main":[65],"challenges":[66],"this":[68,100],"approach":[69],"is":[70,82,89],"obtaining":[71],"accurate":[72],"system":[73,96],"all":[76],"components":[77],"system,":[80],"which":[81],"especially":[83],"difficult":[84],"when":[85,178],"online":[86],"model":[87],"identification":[88],"required":[90],"given":[91],"limited":[92],"computational":[93],"resources":[94],"data.":[97],"We":[98,131,181,215,241],"address":[99],"proposing":[103],"robust":[105],"framework":[106,198,222],"(to":[107],"including":[110],"uncertainties)":[111],"through":[112],"defining":[113],"adaptive":[114,146,229],"are":[119],"updated":[120],"based":[121,143,212],"on":[122,139,144,213,223],"error":[124,149],"obtained":[126],"real-time":[128],"sensor":[129],"measurements.":[130],"define":[132],"CBF":[134,192],"safety":[137,177],"requirement":[138],"unmodelled":[141],"agents":[142],"states,":[150],"reformulate":[152],"as":[157],"above":[159],"mentioned":[160],"QPs.":[163],"Then":[164],"we":[165],"determine":[166],"set":[168],"events":[170],"trigger":[172],"QPs":[174],"ensure":[176],"solving":[179],"them.":[180],"also":[182,200,242],"derive":[183],"condition":[185],"guarantees":[187,206],"satisfaction":[189],"constraint":[193],"between":[194],"events.":[195],"The":[196],"proposed":[197,221,245],"used":[202],"convergence":[205],"CLFs.":[214],"illustrate":[216],"effectiveness":[218],"robot":[225],"problem,":[227],"an":[228],"cruise":[230],"traffic":[235],"merging":[236],"autonomous":[239],"vehicles.":[240],"compare":[243],"event-driven":[246],"method":[247],"classical":[250],"time-driven":[251],"approach.":[252]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
