{"id":"https://openalex.org/W4402916794","doi":"https://doi.org/10.1109/tac.2024.3469785","title":"Semiglobal Safety-Filtered Extremum Seeking With Unknown CBFs","display_name":"Semiglobal Safety-Filtered Extremum Seeking With Unknown CBFs","publication_year":2024,"publication_date":"2024-09-27","ids":{"openalex":"https://openalex.org/W4402916794","doi":"https://doi.org/10.1109/tac.2024.3469785"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3469785","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tac.2024.3469785","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tac.2024.3469785","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084828255","display_name":"Alan Williams","orcid":"https://orcid.org/0000-0002-7928-0353"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alan Williams","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA, USA","Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018293076","display_name":"Miroslav Krsti\u0107","orcid":"https://orcid.org/0000-0002-5523-941X"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miroslav Krstic","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA, USA","Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029728208","display_name":"Alexander Scheinker","orcid":"https://orcid.org/0000-0002-3203-0963"},"institutions":[{"id":"https://openalex.org/I1343871089","display_name":"Los Alamos National Laboratory","ror":"https://ror.org/01e41cf67","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I1343871089","https://openalex.org/I198811213","https://openalex.org/I4210120050"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Scheinker","raw_affiliation_strings":["Accelerator Operations and Technology&#x2014;Applied Electrodynamics (AOT-AE) Group, Los Alamos National Lab, Los Alamos, NM, USA","Accelerator Operations and Technology - Applied Electrodynamics (AOT-AE) Group, Los Alamos National Lab, Los Alamos, NM, USA"],"affiliations":[{"raw_affiliation_string":"Accelerator Operations and Technology&#x2014;Applied Electrodynamics (AOT-AE) Group, Los Alamos National Lab, Los Alamos, NM, USA","institution_ids":["https://openalex.org/I1343871089"]},{"raw_affiliation_string":"Accelerator Operations and Technology - Applied Electrodynamics (AOT-AE) Group, Los Alamos National Lab, Los Alamos, NM, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084828255"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.9653,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76175777,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"70","issue":"3","first_page":"1698","last_page":"1713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9959999918937683,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9959999918937683,"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/T12495","display_name":"Electrostatic Discharge in Electronics","score":0.9578999876976013,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9065999984741211,"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/control-theory","display_name":"Control theory (sociology)","score":0.5491422414779663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48160621523857117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35256415605545044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2822781205177307},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11808979511260986}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5491422414779663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48160621523857117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35256415605545044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2822781205177307},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11808979511260986}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2024.3469785","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tac.2024.3469785","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:osti.gov:2478087","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/2478087","pdf_url":"https://www.osti.gov/servlets/purl/2478087","source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"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":null}],"best_oa_location":{"id":"doi:10.1109/tac.2024.3469785","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tac.2024.3469785","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1127810244","display_name":null,"funder_award_id":"89233218CNA0000","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G1406813184","display_name":null,"funder_award_id":"89233218CNA000","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"},{"id":"https://openalex.org/G216489703","display_name":null,"funder_award_id":"89233218CNA00000","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G2263471178","display_name":null,"funder_award_id":"20220074DR","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"},{"id":"https://openalex.org/G2356915424","display_name":null,"funder_award_id":"89233218CNA000001","funder_id":"https://openalex.org/F4320337547","funder_display_name":"Laboratory Directed Research and Development"},{"id":"https://openalex.org/G2480931584","display_name":null,"funder_award_id":"20220074DR","funder_id":"https://openalex.org/F4320337547","funder_display_name":"Laboratory Directed Research and Development"},{"id":"https://openalex.org/G3359278407","display_name":null,"funder_award_id":"9233218CNA000001","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G3793674015","display_name":null,"funder_award_id":"9233218CNA000001","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"},{"id":"https://openalex.org/G4950733632","display_name":null,"funder_award_id":"000001","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G6083127429","display_name":null,"funder_award_id":"00001","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G6387710405","display_name":null,"funder_award_id":"9233218CNA00000","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G6995210142","display_name":null,"funder_award_id":"89233218CNA000001","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G7038891139","display_name":null,"funder_award_id":"89233218","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"},{"id":"https://openalex.org/G7340972926","display_name":null,"funder_award_id":"other","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G7500863821","display_name":null,"funder_award_id":"89233218CNA000001","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"},{"id":"https://openalex.org/G7851296133","display_name":null,"funder_award_id":"9233218CNA000001","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G8659807574","display_name":null,"funder_award_id":"89233218CNA000001","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G8803809456","display_name":null,"funder_award_id":"89233218CNA00000","funder_id":"https://openalex.org/F4320306084","funder_display_name":"U.S. Department of Energy"},{"id":"https://openalex.org/G996238640","display_name":null,"funder_award_id":"89233218CNA00000","funder_id":"https://openalex.org/F4320338304","funder_display_name":"Los Alamos National Laboratory"}],"funders":[{"id":"https://openalex.org/F4320306084","display_name":"U.S. Department of Energy","ror":"https://ror.org/01bj3aw27"},{"id":"https://openalex.org/F4320332369","display_name":"National Nuclear Security Administration","ror":"https://ror.org/03sk1we31"},{"id":"https://openalex.org/F4320337547","display_name":"Laboratory Directed Research and Development","ror":"https://ror.org/01e41cf67"},{"id":"https://openalex.org/F4320338304","display_name":"Los Alamos National Laboratory","ror":"https://ror.org/01e41cf67"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1551360398","https://openalex.org/W1563025442","https://openalex.org/W1615359958","https://openalex.org/W1814121720","https://openalex.org/W1880805667","https://openalex.org/W1891170951","https://openalex.org/W1971980754","https://openalex.org/W1972149633","https://openalex.org/W1978871245","https://openalex.org/W1984371888","https://openalex.org/W1989145274","https://openalex.org/W2019174039","https://openalex.org/W2022494878","https://openalex.org/W2042818151","https://openalex.org/W2047735251","https://openalex.org/W2048723778","https://openalex.org/W2057264006","https://openalex.org/W2095062552","https://openalex.org/W2121043384","https://openalex.org/W2122041480","https://openalex.org/W2123185396","https://openalex.org/W2138230037","https://openalex.org/W2142104050","https://openalex.org/W2151774769","https://openalex.org/W2154217311","https://openalex.org/W2154414031","https://openalex.org/W2158500963","https://openalex.org/W2407938586","https://openalex.org/W2560154500","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2789826932","https://openalex.org/W2884949476","https://openalex.org/W2963290694","https://openalex.org/W2995250190","https://openalex.org/W3011531960","https://openalex.org/W3119933750","https://openalex.org/W3153025913","https://openalex.org/W3185752420","https://openalex.org/W3200805077","https://openalex.org/W4226017528","https://openalex.org/W4229885360","https://openalex.org/W4281811029","https://openalex.org/W4285282961","https://openalex.org/W4312427786","https://openalex.org/W4315488609","https://openalex.org/W4366442048","https://openalex.org/W4377224316","https://openalex.org/W4385973814","https://openalex.org/W4387831887","https://openalex.org/W4391020263","https://openalex.org/W4391055339","https://openalex.org/W4393104478","https://openalex.org/W4407097792","https://openalex.org/W6647872056","https://openalex.org/W6801468180","https://openalex.org/W6844914471"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027"],"abstract_inverted_index":{"We":[0,182],"introduce":[1],"a":[2,100,145,154,169,190,194],"safe":[3,95,113],"extremum-seeking":[4],"algorithm":[5],"that":[6,17,141,143,174],"achieves":[7],"the":[8,44,50,87,94,103,160,187,201],"minimization":[9],"of":[10,47,86,118,126,135,156,168,189],"an":[11,18,28,70],"unknown":[12],"objective":[13,163],"function":[14,24],"while":[15],"ensuring":[16],"unknown,":[19],"yet":[20],"measured,":[21],"control":[22],"barrier":[23,161],"(CBF)":[25],"remains":[26],"above":[27],"arbitrarily":[29],"small":[30,133,146],"negative":[31],"value":[32],"for":[33,64,108,131],"all":[34,109],"time.":[35],"In":[36],"other":[37],"words,":[38],"\u201cpractical":[39],"safety\u201d":[40],"is":[41,55,67,121,148],"maintained":[42],"during":[43],"entire":[45],"period":[46],"convergence":[48,92],"to":[49,93],"constrained":[51,89,176],"extremum.":[52],"Our":[53],"design":[54,139],"based":[56],"on":[57,159],"quadratic":[58],"program":[59],"(QP)":[60],"CBF":[61],"style":[62],"filters":[63],"safety,":[65,136],"which":[66],"applied":[68],"in":[69,99,112,186],"average":[71],"and":[72,105,162,165,193],"estimated":[73],"sense.":[74],"Using":[75],"nonsmooth":[76],"analysis":[77],"tools,":[78],"we":[79,172],"guarantee":[80,142],"semiglobal":[81],"practical":[82,91,106],"asymptotic":[83],"(SPA)":[84],"stability":[85],"global":[88],"optimum,":[90],"set":[96,155],"if":[97],"starting":[98,111],"condition":[101],"violating":[102],"CBF,":[104],"safety":[107,116],"time\u2014semiglobally\u2014if":[110],"set.":[114],"The":[115],"result":[117],"this":[119],"article":[120,152],"analogous":[122],"with":[123],"modern":[124],"notions":[125],"SPA":[127],"stability,":[128],"guaranteeing":[129],"that,":[130],"any":[132],"violation":[134,147],"there":[137],"exist":[138],"coefficients":[140],"such":[144],"not":[149],"exceeded.":[150],"This":[151],"outlines":[153],"sufficient":[157],"conditions":[158],"functions,":[164],"by":[166],"way":[167],"Lyapunov":[170],"argument,":[171],"demonstrate":[173],"nonconvex":[175],"optimization":[177],"problems":[178],"can":[179],"be":[180],"solved.":[181],"present":[183],"these":[184],"results":[185],"setting":[188],"static":[191],"map":[192],"dynamical":[195],"system.":[196],"A":[197],"simulation":[198],"example":[199],"illustrates":[200],"results.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}
