{"id":"https://openalex.org/W4415179517","doi":"https://doi.org/10.23919/ecc65951.2025.11187291","title":"Predictive Control Barrier Functions: Bridging model predictive control and control barrier functions","display_name":"Predictive Control Barrier Functions: Bridging model predictive control and control barrier functions","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415179517","doi":"https://doi.org/10.23919/ecc65951.2025.11187291"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187291","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-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/A5077703699","display_name":"Jingyi Huang","orcid":"https://orcid.org/0000-0001-5590-8954"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jingyi Huang","raw_affiliation_strings":["University of Oxford,Department of Engineering Science,Oxford,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Engineering Science,Oxford,United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022486657","display_name":"Han Wang","orcid":"https://orcid.org/0000-0002-2752-984X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":["University of Oxford,Department of Engineering Science,Oxford,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Engineering Science,Oxford,United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000801527","display_name":"Kostas Margellos","orcid":"https://orcid.org/0000-0001-8865-8568"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kostas Margellos","raw_affiliation_strings":["University of Oxford,Department of Engineering Science,Oxford,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Engineering Science,Oxford,United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001694225","display_name":"Paul J. Goulart","orcid":"https://orcid.org/0000-0002-0456-4124"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Goulart","raw_affiliation_strings":["University of Oxford,Department of Engineering Science,Oxford,United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Engineering Science,Oxford,United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077703699"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39132482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2623","last_page":"2629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9415000081062317,"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":0.9415000081062317,"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/model-predictive-control","display_name":"Model predictive control","score":0.8450999855995178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7197999954223633},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5263000130653381},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4880000054836273},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4422000050544739},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42410001158714294},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4212000072002411},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.39010000228881836},{"id":"https://openalex.org/keywords/differential-inclusion","display_name":"Differential inclusion","score":0.3882000148296356}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8450999855995178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7197999954223633},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5263000130653381},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4880000054836273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48669999837875366},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42410001158714294},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4212000072002411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39469999074935913},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C70834904","wikidata":"https://www.wikidata.org/wiki/Q1054638","display_name":"Differential inclusion","level":2,"score":0.3882000148296356},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.32760000228881836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.3181999921798706},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C3019719930","wikidata":"https://www.wikidata.org/wiki/Q3910099","display_name":"Predictive value","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.30660000443458557},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.27810001373291016},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187291","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1978956894","https://openalex.org/W2077367989","https://openalex.org/W2106816694","https://openalex.org/W2116364955","https://openalex.org/W2123871098","https://openalex.org/W2171505650","https://openalex.org/W2560504659","https://openalex.org/W2842089854","https://openalex.org/W2887154784","https://openalex.org/W2963525569","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W3119862069","https://openalex.org/W3159266051","https://openalex.org/W3164515101","https://openalex.org/W4292249799","https://openalex.org/W4315606134","https://openalex.org/W4382203285","https://openalex.org/W4388903135","https://openalex.org/W4390284723","https://openalex.org/W4391020052"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,28,55],"establish":[4],"a":[5,30,52,95,120],"connection":[6],"between":[7,21],"model":[8],"predictive":[9],"control":[10],"(MPC)":[11],"techniques":[12],"and":[13,23,36,87,135],"Control":[14,24,61],"Barrier":[15,62],"Functions":[16,26],"(CBFs).":[17],"Recognizing":[18],"the":[19,59,109,127],"similarity":[20],"CBFs":[22],"Lyapunov":[25],"(CLFs),":[27],"propose":[29],"MPC":[31,50,68,104],"formulation":[32,80,105],"that":[33,98],"ensures":[34],"invariance":[35],"safety":[37,100,134],"without":[38],"relying":[39],"on":[40,90],"explicit":[41],"stability":[42,72],"conditions.":[43],"The":[44],"value":[45,75,110],"function":[46,111],"of":[47,129],"our":[48,103,130],"proposed":[49],"is":[51,81,88],"CBF,":[53],"which":[54,70],"refer":[56],"to":[57,66,112,116,119],"as":[58,77],"Predictive":[60],"Function":[63],"(PCBF),":[64],"similar":[65,96],"traditional":[67],"formulations":[69],"encode":[71],"by":[73],"having":[74],"functions":[76],"CLFs.":[78],"Our":[79],"simpler":[82],"than":[83],"previous":[84],"PCBF":[85],"approaches":[86],"based":[89],"weaker":[91],"assumptions":[92],"while":[93],"proving":[94],"theorem":[97],"guarantees":[99],"recovery.":[101],"Notably,":[102],"does":[106],"not":[107],"require":[108],"be":[113],"strictly":[114],"decreasing":[115],"ensure":[117],"convergence":[118],"safe":[121],"invariant":[122],"set.":[123],"Numerical":[124],"examples":[125],"demonstrate":[126],"effectiveness":[128],"approach":[131],"in":[132],"guaranteeing":[133],"constructing":[136],"non-conservative":[137],"CBFs.":[138]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}