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Journal articles on the topic 'Control Barrier Function'

Author: Grafiati

Published: 29 March 2025

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1

NAKAMURA, Hisakazu, Takao YOSHINAGA, Yu KOYAMA, and Jun ETOH. "Control Barrier Function Based Human Assist Control." Transactions of the Society of Instrument and Control Engineers 55, no. 5 (2019): 353–61. http://dx.doi.org/10.9746/sicetr.55.353.

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2

Wills, Adrian G., and William P. Heath. "Barrier function based model predictive control." Automatica 40, no. 8 (August 2004): 1415–22. http://dx.doi.org/10.1016/j.automatica.2004.03.002.

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3

HAYASHI, Yuka, and Hisakazu NAKAMURA. "Control Barrier Function Based Human Assist Control under Disturbance." Transactions of the Society of Instrument and Control Engineers 57, no. 8 (2021): 339–48. http://dx.doi.org/10.9746/sicetr.57.339.

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4

Hayashi, Y., M. Igarashi, and H. Nakamura. "Contact Assist Control Barrier Function for Human Assist Control." IFAC-PapersOnLine 52, no. 16 (2019): 741–46. http://dx.doi.org/10.1016/j.ifacol.2019.12.051.

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5

Obeid, Hussein, Leonid M. Fridman, Salah Laghrouche, and Mohamed Harmouche. "Barrier function-based adaptive sliding mode control." Automatica 93 (July 2018): 540–44. http://dx.doi.org/10.1016/j.automatica.2018.03.078.

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6

Tezuka, Issei, and Hisakazu Nakamura. "Strict Zeroing Control Barrier Function for Continuous Safety Assist Control." IEEE Control Systems Letters 6 (2022): 2108–13. http://dx.doi.org/10.1109/lcsys.2021.3138526.

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7

Li, Boqian, Shiping Wen, Zheng Yan, Guanghui Wen, and Tingwen Huang. "A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems." IEEE/CAA Journal of Automatica Sinica 10, no. 3 (March 2023): 584–602. http://dx.doi.org/10.1109/jas.2023.123075.

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8

Wang, Jian, He He, and Jiafeng Yu. "Stabilization with guaranteed safety using Barrier Function and Control Lyapunov Function." Journal of the Franklin Institute 357, no. 15 (October 2020): 10472–91. http://dx.doi.org/10.1016/j.jfranklin.2020.08.026.

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9

HAYASHI, Yuka, and Hisakazu NAKAMURA. "Human Assist Control of Electric Wheelchair by Using Control Barrier Function." Transactions of the Society of Instrument and Control Engineers 56, no. 3 (2020): 132–40. http://dx.doi.org/10.9746/sicetr.56.132.

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10

IGARASHI, Motoi, Maki TAKAI, and Hisakazu NAKAMURA. "Control Barrier Function Based Human Assist Control for Moving Obstacle Avoidance." Transactions of the Society of Instrument and Control Engineers 56, no. 9 (2020): 432–41. http://dx.doi.org/10.9746/sicetr.56.432.

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11

Chinelato, Caio Igor Goncalves, Gabriel Pereira Das Neves, and Bruno Augusto Angelico. "Safe Control of a Reaction Wheel Pendulum Using Control Barrier Function." IEEE Access 8 (2020): 160315–24. http://dx.doi.org/10.1109/access.2020.3018713.

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12

Wu, Zhe, Fahad Albalawi, Zhihao Zhang, Junfeng Zhang, Helen Durand, and Panagiotis D. Christofides. "Control Lyapunov-Barrier function-based model predictive control of nonlinear systems." Automatica 109 (November 2019): 108508. http://dx.doi.org/10.1016/j.automatica.2019.108508.

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13

Song, Jie, Mikhail Svinin, and Naoki Wakamiya. "Control for Autonomous Intersection Management Based on Adaptive Control Barrier Function." Applied Sciences 15, no. 5 (February 21, 2025): 2315. https://doi.org/10.3390/app15052315.

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Autonomous intersection management (AIM) is gaining increasing attention due to its crucial role in ensuring safety and efficiency. Various methods have been proposed in the literature to address the AIM problem, including traffic light optimization, connected vehicle optimization based on vehicle-to-anything (V2X) communication technology, and multi-agent autonomous systems. However, each of these approaches has its own limitations, such as parking delays, communication latency, or the lack of guaranteed collision avoidance. This paper presents a novel approach to AIM using adaptive control barrier functions (aCBFs). The proposed aCBF first estimates the power transmission efficiency and incorporates it into the CBF design to ensure collision-free operation. Compared to existing methods, the aCBF approach offers several advantages. Firstly, it eliminates parking delays caused by traffic light systems. Secondly, it can be deployed in intersections with limited network coverage, unlike IoT-based solutions that rely heavily on connectivity. Thirdly, it ensures guaranteed collision-free agent movement at intersections. Specifically, our method guarantees that the minimum distance between agents remains no less than the safe distance at all times, significantly enhancing safety. Furthermore, compared to the TriPField algorithm, our approach achieves a 95% success rate in collision avoidance, demonstrating reliability in autonomous intersection management. The effectiveness of the proposed aCBF-based AIM algorithm has been validated through simulations and experiments with multiple autonomous agent-like robots.

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14

Ridha, Taghreed Mohammad, and Mina Qays Kadhim. "A Barrier Function-Based Variable Structure Control for Maglev System." Journal Européen des Systèmes Automatisés 55, no. 5 (November 30, 2022): 633–39. http://dx.doi.org/10.18280/jesa.550508.

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Magnetic levitation (Maglev) systems are widely employed in the industry especially in mechatronics systems for precise positioning and suspension. They are inherently unstable having nonlinear models with uncertain parameters and exposed to external disturbances. Therefore, high-performance robust control designs are recommended for these systems. An Adaptive Variable Structure Controller based on barrier function (AVSCbf) is designed for the first time in this work to control the displacement of the ball position of a disturbed Maglev system. This approach does not require prior knowledge of the disturbance upper bounds in the design procedure. The state space region defined by the barrier function is designed to be attractive and invariant. This feature is essential to reject disturbances and handle parametric uncertainties. The adaptive law is activated when the state trajectory is initiated outside the invariant set defined by the barrier function. The gain of the VSC is adapted according to an adaptation law, which considers the system input constraints. The control input is constrained to be a bounded positive quantity. The adaptive VSC is only applied during the reaching phase. Once the state reaches the invariant set, the barrier-function-based VSC is applied to confine the state inside it. The resulting overall controller is a chattering-free VSC since the barrier-function based VSC is continuous. The steady-state error is limited to a minimal value by only specifying the barrier function parameter. Numerical simulations are conducted to show the efficiency of the new approach. Three types of VSC controllers for the Maglev system are compared. AVSCbf is compared to the performance of adaptive only VSC without the barrier function (AVSC) and both are designed in this work. AVSCbf is also compared to the classical VSC performance from previous work in the literature. The results of the comparison showed the efficiency of the proposed controller.

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15

McKenna, Lindsay B., Jonathan Schug, Anastassios Vourekas, Jaime B. McKenna, Nuria C. Bramswig, Joshua R. Friedman, and Klaus H. Kaestner. "MicroRNAs Control Intestinal Epithelial Differentiation, Architecture, and Barrier Function." Gastroenterology 139, no. 5 (November 2010): 1654–64. http://dx.doi.org/10.1053/j.gastro.2010.07.040.

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16

Romdlony, Muhammad Zakiyullah, and Bayu Jayawardhana. "Stabilization with guaranteed safety using Control Lyapunov–Barrier Function." Automatica 66 (April 2016): 39–47. http://dx.doi.org/10.1016/j.automatica.2015.12.011.

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17

Higashi, Tomohito, Akira C. Saito, and Hideki Chiba. "Damage control of epithelial barrier function in dynamic environments." European Journal of Cell Biology 103, no. 2 (June 2024): 151410. http://dx.doi.org/10.1016/j.ejcb.2024.151410.

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18

Lyu, Yiwei, Wenhao Luo, and John M. Dolan. "Adaptive Safe Behavior Generation for Heterogeneous Autonomous Vehicles Using Parametric-Control Barrier Functions (Student Abstract)." Proceedings of the AAAI Conference on Artificial Intelligence 36, no. 11 (June 28, 2022): 13009–10. http://dx.doi.org/10.1609/aaai.v36i11.21641.

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Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we introduce the Parametric-Control Barrier Function (Parametric-CBF), a novel variant of the traditional Control Barrier Function to extend its expressivity in describing different safe behaviors among heterogeneous robots. A parametric-CBF based framework is presented to enable the ego robot to model the neighboring robots behavior and further improve the coordination efficiency during interaction while enjoying formally provable safety guarantees. We demonstrate the usage of Parametric-CBF in behavior prediction and adaptive safe control in the ramp merging scenario.

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19

Vinent, Orencio Durán, Benjamin E. Schaffer, and Ignacio Rodriguez-Iturbe. "Stochastic dynamics of barrier island elevation." Proceedings of the National Academy of Sciences 118, no. 1 (December 21, 2020): e2013349118. http://dx.doi.org/10.1073/pnas.2013349118.

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Barrier islands are ubiquitous coastal features that create low-energy environments where salt marshes, oyster reefs, and mangroves can develop and survive external stresses. Barrier systems also protect interior coastal communities from storm surges and wave-driven erosion. These functions depend on the existence of a slowly migrating, vertically stable barrier, a condition tied to the frequency of storm-driven overwashes and thus barrier elevation during the storm impact. The balance between erosional and accretional processes behind barrier dynamics is stochastic in nature and cannot be properly understood with traditional continuous models. Here we develop a master equation describing the stochastic dynamics of the probability density function (PDF) of barrier elevation at a point. The dynamics are controlled by two dimensionless numbers relating the average intensity and frequency of high-water events (HWEs) to the maximum dune height and dune formation time, which are in turn a function of the rate of sea level rise, sand availability, and stress of the plant ecosystem anchoring dune formation. Depending on the control parameters, the transient solution converges toward a high-elevation barrier, a low-elevation barrier, or a mixed, bimodal, state. We find the average after-storm recovery time—a relaxation time characterizing barrier’s resiliency to storm impacts—changes rapidly with the control parameters, suggesting a tipping point in barrier response to external drivers. We finally derive explicit expressions for the overwash probability and average overwash frequency and transport rate characterizing the landward migration of barriers.

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20

Zhang, Tan, and Pianpian Yan. "Symmetric Time-Variant IBLF-Based Tracking Control with Prescribed Performance for a Robot." Symmetry 15, no. 10 (October 15, 2023): 1919. http://dx.doi.org/10.3390/sym15101919.

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In this work, an improved symmetric integral barrier function-based tracking control is addressed for a robotic manipulator in the presence of position error performance requirements and unknown uncertain terms. First of all, we construct an improved symmetric time-variant integral barrier function to solve the robotic system’s constrained requirements. The novel barrier function is constructed by developing an integral upper limit function that can be used in conjunction with existing performance envelope functions. Then, the equivalent conversion error is taken as the upper limit of the integral function to achieve the specified steady-state as well as transient behaviors of the system. Additionally, a disturbance observer based on the velocity tracking error is introduced to compensate for unknown uncertain terms. In the end, a numeral simulation study on a robot with two degrees is performed to indicate that the present scheme is feasible in handling the performance constraint and uncertain terms.

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21

Kim, Suyeong, and Hungsun Son. "Online Adaptation of Control Parameters with Safe Exploration by Control Barrier Function." Journal of Korea Robotics Society 17, no. 1 (March 1, 2022): 76–85. http://dx.doi.org/10.7746/jkros.2022.17.1.076.

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22

Wu, Zhe, Helen Durand, and Panagiotis D. Christofides. "Control Lyapunov-Barrier Function-Based Economic Model Predictive Control of Nonlinear Systems." IFAC-PapersOnLine 51, no. 20 (2018): 48–53. http://dx.doi.org/10.1016/j.ifacol.2018.10.173.

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23

Zheng, Zewei, Jiazhe Li, Zhiyuan Guan, and Zongyu Zuo. "Constrained Moving Path Following Control for UAV With Robust Control Barrier Function." IEEE/CAA Journal of Automatica Sinica 10, no. 7 (July 2023): 1557–70. http://dx.doi.org/10.1109/jas.2023.123573.

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24

Wang, Shengbo, and Shiping Wen. "Safe Control Against Uncertainty: A Comprehensive Review of Control Barrier Function Strategies." IEEE Systems, Man, and Cybernetics Magazine 11, no. 1 (January 2025): 34–47. https://doi.org/10.1109/msmc.2024.3431789.

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25

Di Pillo, G., and F. Facchinei. "Exact barrier function methods for Lipschitz programs." Applied Mathematics and Optimization 32, no. 1 (July 1995): 1–31. http://dx.doi.org/10.1007/bf01189901.

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26

Marjoram, Lindsay, Ashley Alvers, M. Elizabeth Deerhake, Jennifer Bagwell, Jamie Mankiewicz, Jordan L. Cocchiaro, Rebecca W. Beerman, et al. "Epigenetic control of intestinal barrier function and inflammation in zebrafish." Proceedings of the National Academy of Sciences 112, no. 9 (February 17, 2015): 2770–75. http://dx.doi.org/10.1073/pnas.1424089112.

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The intestinal epithelium forms a barrier protecting the organism from microbes and other proinflammatory stimuli. The integrity of this barrier and the proper response to infection requires precise regulation of powerful immune homing signals such as tumor necrosis factor (TNF). Dysregulation of TNF leads to inflammatory bowel diseases (IBD), but the mechanism controlling the expression of this potent cytokine and the events that trigger the onset of chronic inflammation are unknown. Here, we show that loss of function of the epigenetic regulator ubiquitin-like protein containing PHD and RING finger domains 1 (uhrf1) in zebrafish leads to a reduction in tnfa promoter methylation and the induction of tnfa expression in intestinal epithelial cells (IECs). The increase in IEC tnfa levels is microbe-dependent and results in IEC shedding and apoptosis, immune cell recruitment, and barrier dysfunction, consistent with chronic inflammation. Importantly, tnfa knockdown in uhrf1 mutants restores IEC morphology, reduces cell shedding, and improves barrier function. We propose that loss of epigenetic repression and TNF induction in the intestinal epithelium can lead to IBD onset.

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27

Zhang, Tan, and Pianpian Yan. "Asymmetric integral barrier function-based tracking control of constrained robots." AIMS Mathematics 9, no. 1 (2023): 319–39. http://dx.doi.org/10.3934/math.2024019.

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<abstract><p>In this paper, a new-type time-varying asymmetric integral barrier function is designed to handle the state constraint of nonlinear systems. The barrier Lyapunov function is developed by building an integral upper limit function with respect to transformation errors over an open set to cope with the position constraint of the robotic system. We know that the symmetric time-invariant constraint is only a particular situation of the asymmetric time-variant constraint, and thus compared to existing methods, it is capable of handling more general and broad practical engineering issues. We show that under the integral barrier Lyapunov function combining a disturbance observer-based tracking controller, the position vector tracks a desired trajectory successfully, while the constraint boundary is never violated. It can certify the exponential asymptotic stability of the robotic tracking system by using the given inequality relationship on barrier function and Lyapunov analysis. Finally, the feasibility of the presented algorithm is indicated by completing the simulations.</p></abstract>

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28

Ahdieh, Minoo, Tim Vandenbos, and Adel Youakim. "Lung epithelial barrier function and wound healing are decreased by IL-4 and IL-13 and enhanced by IFN-γ." American Journal of Physiology-Cell Physiology 281, no. 6 (December 1, 2001): C2029—C2038. http://dx.doi.org/10.1152/ajpcell.2001.281.6.c2029.

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To understand the effects of cytokines on epithelial cells in asthma, we have investigated the effects of interleukin (IL)-4, IL-13, and interferon (IFN)-γ on barrier function and wound healing in Calu-3 human lung epithelial cells. IL-4 and IL-13 treatment of Calu-3 cells grown on Transwell filters resulted in a 70–75% decrease in barrier function as assessed by electrophysiological and [14C]mannitol flux measurements. In contrast, IFN-γ enhanced barrier function threefold using these same parameters. Cells treated concurrently with IFN-γ and IL-4 or IL-13 showed an initial decline in barrier function that was reversed within 2 days, resulting in barrier levels comparable to control cells. Analysis of the tight junction-associated proteins ZO-1 and occludin showed that IL-4 and IL-13 significantly reduced ZO-1 expression and modestly decreased occludin expression compared with controls. IFN-γ, quite unexpectedly given its enhancing effect on barrier function, reduced expression of ZO-1 and occludin to almost undetectable levels compared with controls. In wound-healing assays of cells grown on collagen I, IL-4 and IL-13 decreased migration, whereas IFN-γ treatment enhanced migration, compared with control cells. Addition of IFN-γ, in combination with IL-4 or IL-13, restored migration of cells to control levels. Migration differences observed between the various cytokine treatments was correlated with expression of the collagen I-binding α2β1-integrin at the leading edge of cells at the wound front; α2β1-integrin expression was decreased in IFN-γ-treated cells compared with controls, whereas it was highest in IL-4- and IL-13-treated cells. These results demonstrate that IL-4 and IL-13 diminish the capacity of Calu-3 cells to maintain barrier function and repair wounds, whereas IFN-γ promotes epithelial restitution by enhancing barrier function and wound healing.

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29

Tezuka, Issei, and Hisakazu Nakamura. "Safety Assist Control for Nonautonomous Control-affine Systems via Time-varying Control Barrier Function." IFAC-PapersOnLine 56, no. 1 (2023): 187–92. http://dx.doi.org/10.1016/j.ifacol.2023.02.032.

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30

Fontijn, Ruud D., Oscar L. Volger, Joost O. Fledderus, Arie Reijerkerk, Helga E. de Vries, and Anton J. G. Horrevoets. "SOX-18 controls endothelial-specific claudin-5 gene expression and barrier function." American Journal of Physiology-Heart and Circulatory Physiology 294, no. 2 (February 2008): H891—H900. http://dx.doi.org/10.1152/ajpheart.01248.2007.

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Members of the claudin family constitute tight junction strands and are major determinants in specificity and selectivity of paracellular barriers. Transcriptional control of claudin gene expression is essential to establish individual claudin expression patterns and barrier properties. Using full genome expression profiling, we now identify sex-determining region Y-box (SOX)-18, a member of the SOX family of high-mobility group box transcription factors, as one of the most differentially induced genes during establishment of the endothelial barrier. We show that overexpression of SOX-18 and a dominant-negative mutant thereof, as well as SOX-18 silencing, greatly affect levels of claudin-5 (CLDN5). The relevance of an evolutionary conserved SOX-binding site in the CLDN5 promoter is shown using sequential promoter deletions, as well as point mutations. Furthermore, SOX-18 silencing abrogates endothelial barrier function, as measured by electric cell-substrate impedance sensing. Thus an obligatory role for SOX-18 in the regulation of CLDN5 gene expression in an endothelial-specific and cell density-dependent manner is established, as well as a crucial, nonredundant role for specifically SOX-18 in the formation of the endothelial barrier.

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31

Labar, Christophe, Emanuele Garone, Michel Kinnaert, and Christian Ebenbauer. "Constrained Extremum Seeking: a Modified-Barrier Function Approach." IFAC-PapersOnLine 52, no. 16 (2019): 694–99. http://dx.doi.org/10.1016/j.ifacol.2019.12.043.

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32

Wang, Dapeng, Shaogang Liu, Youguo He, and Jie Shen. "Barrier Lyapunov Function-Based Adaptive Back-Stepping Control for Electronic Throttle Control System." Mathematics 9, no. 4 (February 6, 2021): 326. http://dx.doi.org/10.3390/math9040326.

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This paper presents an adaptive constraint control approach for Electronic Throttle Control System (ETCS) with asymmetric throttle angle constraints. The adaptive constraint control method, which is based on barrier Lyapunov function (BLF), is designed not only to track the desired throttle angle but also to guarantee no violation on the throttle angle constraints. An ETC mathematic model with complex non-linear system is considered and the asymmetric barrier Lyapunov function (ABLF) is introduced into the design of the controller. Based on Lyapunov stability theory, it can be concluded that the proposed controller can guarantee the stability of the whole system and uniformly converge the state error to track the desired throttle angle. The results of simulations show that the proposed controller can ensure that there is no violation on the throttle angle constraints.

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33

Zoio, Patrícia, Sara Lopes-Ventura, and Abel Oliva. "Barrier-on-a-Chip with a Modular Architecture and Integrated Sensors for Real-Time Measurement of Biological Barrier Function." Micromachines 12, no. 7 (July 12, 2021): 816. http://dx.doi.org/10.3390/mi12070816.

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Biological barriers are essential for the maintenance of organ homeostasis and their dysfunction is responsible for many prevalent diseases. Advanced in vitro models of biological barriers have been developed through the combination of 3D cell culture techniques and organ-on-chip (OoC) technology. However, real-time monitoring of tissue function inside the OoC devices has been challenging, with most approaches relying on off-chip analysis and imaging techniques. In this study, we designed and fabricated a low-cost barrier-on-chip (BoC) device with integrated electrodes for the development and real-time monitoring of biological barriers. The integrated electrodes were used to measure transepithelial electrical resistance (TEER) during tissue culture, thereby quantitatively evaluating tissue barrier function. A finite element analysis was performed to study the sensitivity of the integrated electrodes and to compare them with conventional systems. As proof-of-concept, a full-thickness human skin model (FTSm) was grown on the developed BoC, and TEER was measured on-chip during the culture. After 14 days of culture, the barrier tissue was challenged with a benchmark irritant and its impact was evaluated on-chip through TEER measurements. The developed BoC with an integrated sensing capability represents a promising tool for real-time assessment of barrier function in the context of drug testing and disease modelling.

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34

Mehta, Dolly, Krishnan Ravindran, and Wolfgang M. Kuebler. "Novel regulators of endothelial barrier function." American Journal of Physiology-Lung Cellular and Molecular Physiology 307, no. 12 (December 15, 2014): L924—L935. http://dx.doi.org/10.1152/ajplung.00318.2014.

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Endothelial barrier function is an essential and tightly regulated process that ensures proper compartmentalization of the vascular and interstitial space, while allowing for the diffusive exchange of small molecules and the controlled trafficking of macromolecules and immune cells. Failure to control endothelial barrier integrity results in excessive leakage of fluid and proteins from the vasculature that can rapidly become fatal in scenarios such as sepsis or the acute respiratory distress syndrome. Here, we highlight recent advances in our understanding on the regulation of endothelial permeability, with a specific focus on the endothelial glycocalyx and endothelial scaffolds, regulatory intracellular signaling cascades, as well as triggers and mediators that either disrupt or enhance endothelial barrier integrity, and provide our perspective as to areas of seeming controversy and knowledge gaps, respectively.

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35

Stevens, Troy, Judy Creighton, and W. Joseph Thompson. "Control of cAMP in lung endothelial cell phenotypes. Implications for control of barrier function." American Journal of Physiology-Lung Cellular and Molecular Physiology 277, no. 1 (July 1, 1999): L119—L126. http://dx.doi.org/10.1152/ajplung.1999.277.1.l119.

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Pulmonary microvascular endothelial cells (PMVECs) form a more restrictive barrier to macromolecular flux than pulmonary arterial endothelial cells (PAECs); however, the mechanisms responsible for this intrinsic feature of PMVECs are unknown. Because cAMP improves endothelial barrier function, we hypothesized that differences in enzyme regulation of cAMP synthesis and/or degradation uniquely establish an elevated content in PMVECs. PMVECs possessed 20% higher basal cAMP concentrations than did PAECs; however, increased content was accompanied by 93% lower ATP-to-cAMP conversion rates. In PMVECs, responsiveness to β-adrenergic agonist (isoproterenol) or direct adenylyl cyclase (forskolin) activation was attenuated and responsiveness to phosphodiesterase inhibition (rolipram) was increased compared with those in PAECs. Although both types of endothelial cells express calcium-inhibited adenylyl cyclase, constitutive PMVEC cAMP accumulation was not inhibited by physiological rises in cytosolic calcium, whereas PAEC cAMP accumulation was inhibited 30% by calcium. Increasing either PMVEC calcium entry by maximal activation of store-operated calcium entry or ATP-to-cAMP conversion with rolipram unmasked calcium inhibition of adenylyl cyclase. These data indicate that suppressed calcium entry and low ATP-to-cAMP conversion intrinsically influence calcium sensitivity. Adenylyl cyclase-to-cAMP phosphodiesterase ratios regulate cAMP at elevated levels compared with PAECs, which likely contribute to enhanced microvascular barrier function.

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36

Harada, Norio, Yoshifumi Satofuka, and Takahisa Mizuyama. "A Proposal for Sediment Control Countermeasures in Non-Flowing Mountain Streams." Water 16, no. 9 (April 23, 2024): 1197. http://dx.doi.org/10.3390/w16091197.

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In Japan, the heavy rain disaster that occurred in July 2018 revealed that about 70% of the streams affected by debris flows that resulted in human casualties were small, steep mountain streams with a catchment area < 0.05 km2. Generally, many streams that are close to residential houses or roads do not have a constant flow of water and are known to pose a high risk of human fatalities when a debris flow occurs. This study aimed to promote sediment control as debris flow countermeasures in non-flowing mountain streams, utilizing secondary manufactured products (permeable debris flow barriers) with excellent constructability, focusing on the mechanism of sediment outflow from the gaps between a permeable debris flow barrier and mountain stream side banks. The necessity and effectiveness of preventative measures based on preliminary experimental results are presented. When impermeable structures were installed at both ends of the permeable debris flow barrier side, compared to using only a permeable debris flow barrier (covering the entire width with permeable debris flow barriers), we found that the capture function improved significantly, achieving a 200% increase in effectiveness.

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37

Dasgupta, Ranjan, Sayan Basu Roy, and Shubhendu Bhasin. "Barrier-Lyapunov Function based Dynamic Surface Control of Quad-Rotorcraft." IFAC-PapersOnLine 53, no. 2 (2020): 9378–83. http://dx.doi.org/10.1016/j.ifacol.2020.12.2406.

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38

Vestweber, Dietmar, Andre Broermann, and Dörte Schulte. "Control of endothelial barrier function by regulating vascular endothelial-cadherin." Current Opinion in Hematology 17, no. 3 (May 2010): 230–36. http://dx.doi.org/10.1097/moh.0b013e328338664b.

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39

Ames, Aaron D., Xiangru Xu, Jessy W. Grizzle, and Paulo Tabuada. "Control Barrier Function Based Quadratic Programs for Safety Critical Systems." IEEE Transactions on Automatic Control 62, no. 8 (August 2017): 3861–76. http://dx.doi.org/10.1109/tac.2016.2638961.

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40

Salmina, Alla B., Natalia V. Kuvacheva, Andrey V. Morgun, Yulia K. Komleva, Elena A. Pozhilenkova, Olga L. Lopatina, Yana V. Gorina, Tatyana E. Taranushenko, and Lyudmila L. Petrova. "Glycolysis-mediated control of blood-brain barrier development and function." International Journal of Biochemistry & Cell Biology 64 (July 2015): 174–84. http://dx.doi.org/10.1016/j.biocel.2015.04.005.

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41

An, Hao, Hongwei Xia, and Changhong Wang. "Barrier Lyapunov function-based adaptive control for hypersonic flight vehicles." Nonlinear Dynamics 88, no. 3 (January 21, 2017): 1833–53. http://dx.doi.org/10.1007/s11071-017-3347-y.

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42

Wang, Chunxiao, Yuqiang Wu, and Zhongcai Zhang. "Tracking control for strict-feedback nonlinear systems with time-varying full state constraints." Transactions of the Institute of Measurement and Control 40, no. 14 (February 5, 2018): 3964–77. http://dx.doi.org/10.1177/0142331217737596.

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This paper focuses on the tracking control problem for strict-feedback nonlinear systems subject to asymmetric time-varying full state constraints. Time-varying asymmetric barrier Lyapunov functions are employed to ensure time-varying constraint satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. High-order coupling terms caused by backstepping are cancelled through a novel variable substitution for the first time. Besides the normal case, where the full knowledge of the system is available, we also handle scenarios of parametric uncertainties. Asymptotic tracking is achieved without violation of any constraints, and all signals in the closed-loop system are ultimately bounded. State-constrained systems with input saturation and bounded disturbances are also considered; the tracking error converges to a bounded set around zero. The performance of the asymmetric-barrier-Lyapunov-function-based control is illustrated through a numerical example.

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Zheng, Weijiang, Bing Zhu, Xianming Ye, and Zongyu Zuo. "Control Lyapunov-Barrier Function Based Stochastic Model Predictive Control for COVID-19 Pandemic." IFAC-PapersOnLine 56, no. 2 (2023): 6531–36. http://dx.doi.org/10.1016/j.ifacol.2023.10.302.

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Zhao, Chenguang, and Huan Yu. "Enforcing Safety for Mixed Traffic Control via a Control Barrier Function Quadratic Program." IFAC-PapersOnLine 56, no. 2 (2023): 2226–31. http://dx.doi.org/10.1016/j.ifacol.2023.10.1151.

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Fuladi, Shadi, Ridaka-Wal Jannat, Le Shen, Christopher R. Weber, and Fatemeh Khalili-Araghi. "Computational Modeling of Claudin Structure and Function." International Journal of Molecular Sciences 21, no. 3 (January 23, 2020): 742. http://dx.doi.org/10.3390/ijms21030742.

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Tight junctions form a barrier to control passive transport of ions and small molecules across epithelia and endothelia. In addition to forming a barrier, some of claudins control transport properties of tight junctions by forming charge- and size-selective ion channels. It has been suggested claudin monomers can form or incorporate into tight junction strands to form channels. Resolving the crystallographic structure of several claudins in recent years has provided an opportunity to examine structural basis of claudins in tight junctions. Computational and theoretical modeling relying on atomic description of the pore have contributed significantly to our understanding of claudin pores and paracellular transport. In this paper, we review recent computational and mathematical modeling of claudin barrier function. We focus on dynamic modeling of global epithelial barrier function as a function of claudin pores and molecular dynamics studies of claudins leading to a functional model of claudin channels.

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Romdlony, Muhammad Zakiyullah, Ridlho Khoirul Fachri, and Muhammad Ridho Rosa. "SIMULASI MODEL NAVIGASI MOBILE ROBOT DENGAN PENERAPAN METODE CONTROL LYAPUNOV-BARRIER FUNCTION (CLBF) TERHADAP SISTEM NAVIGASI WAYPOINT." TEKTRIKA - Jurnal Penelitian dan Pengembangan Telekomunikasi, Kendali, Komputer, Elektrik, dan Elektronika 6, no. 2 (September 23, 2022): 24. http://dx.doi.org/10.25124/tektrika.v6i2.4127.

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Simulasi menjadi bagian penting dalam keberhasilan implementasi metode kontrol sebelum diterapkan pada real plant. Paper ini membahas implementasi metode Control Laypunov-Barrier Function (CLBF) pada model navigasi mobile robot terhadap sistem navigasi waypoint melalui simulasi Matlab. CLBF merupakan kombinasi metode Control Lyapunov Function (CLF) dan Control Barrier Function (CBF) yang memiliki peran untuk menjaga kestabilan dan menjamin keselamatan pada sistem. Pemberian tiga waypoint sebagai navigasi gerak dari model mobile robot berfungsi untuk mengetahui kestabilan sistem, tiga barrier berbentuk lingkaran untuk area yang harus dihindari, dan unsafe state diberikan supaya model navigasi mobile robot tidak menabak barrier, sehingga sistem dikatakan aman. Simulasi yang dilakukan memperlihatkan model navigasi mobile robot yang mampu bergerak menuju beberapa waypoint dengan menghindari tiga barrier dalam waktu yang berbeda, di antaranya dari initial state ke waypoint pertama membutuhkan waktu 7,43 detik, dari waypoint pertama ke waypoint kedua membutuhkan waktu 5,73 detik, dan dari waypoint kedua ke waypoint ketiga membutuhkan waktu 6,75 detik. Penempatan waypoint, barrier, dan unsafe state terhadap bidang dua dimensi yaitu x1 sebagai koordinat x danx2 sebagai koordinat y. Kata Kunci: control lyapunov-barrier function, simulasi, waypoint

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González, Andrés, Luis Ovalle, and Leonid Fridman. "Effects of Deterministic Measurement Noise on Barrier Function-Based Adaptive Sliding-Mode Control." Memorias del Congreso Nacional de Control Automático 6, no. 1 (October 27, 2023): 92–96. http://dx.doi.org/10.58571/cnca.amca.2023.012.

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The effect of deterministic measurement noise on barrier function-based adaptive sliding mode controllers (BFASMC) is analyzed. For general bounded deterministic noise signals, it is impossible to select the controller parameters to track some perturbation with unknown bound. Nonetheless, if the assumption of continuity of the noise is added, the tracking of such a perturbation is possible whenever the barrier function width depends on the bound of the noise. If Lipschitz continuity of the noise is assumed, then the barrier function width can be chosen arbitrarily.

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Abd, Anmar F., and Shibly A. Al-Samarraie. "Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction." Engineering and Technology Journal 39, no. 2A (February 25, 2021): 248–59. http://dx.doi.org/10.30684/etj.v39i2a.1826.

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This paper proposes the use of the integral sliding mode control (ISMC) based on the barrier function to control the servo actuator system with friction. Based on the barrier function, the main features of the ISMC design were preserved, additionally, the proposed control design is done without the need to know the bound on the system model uncertainty, accordingly, the overestimation of the control gain doesn’t take place and the chattering is eliminated. Moreover, the steady-state error can be adjusted via selecting the barrier function parameter only. The simulation results demonstrate the performance of the proposed ISMC based on the barrier function where the system angle successfully follows the desired angular position with a small pre-adjusted steady-state error. Additionally, the obtained results clarify superior features compared with a traditional ISMC designed to the same actuator.

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Chriat, Alaa Eddine, and Chuangchuang Sun. "High-Order Control Lyapunov–Barrier Functions for Real-Time Optimal Control of Constrained Non-Affine Systems." Mathematics 12, no. 24 (December 21, 2024): 4015. https://doi.org/10.3390/math12244015.

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This paper presents a synthesis of higher-order control Lyapunov functions (HOCLFs) and higher-order control barrier functions (HOCBFs) capable of controlling nonlinear dynamic systems while maintaining safety. Building on previous Lyapunov and barrier formulations, we first investigate the feasibility of the Lyapunov and barrier function approach in controlling a non-affine dynamic system under certain convexity conditions. Then we propose an HOCLF form that ensures convergence of non-convex dynamics with convex control inputs to target states. We combine the HOCLF with the HOCBF to ensure forward invariance of admissible sets and guarantee safety. This online non-convex optimal control problem is then formulated as a convex Quadratic Program (QP) that can be efficiently solved on board for real-time applications. Lastly, we determine the HOCLBF coefficients using a heuristic approach where the parameters are tuned and automatically decided to ensure the feasibility of the QPs, an inherent major limitation of high-order CBFs. The efficacy of the suggested algorithm is demonstrated on the real-time six-degree-of-freedom powered descent optimal control problem, where simulation results were run efficiently on a standard laptop.

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Amertet, Sairoel, and Girma Gebresenbet. "Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming." Applied Sciences 15, no. 5 (February 25, 2025): 2450. https://doi.org/10.3390/app15052450.

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The primary challenge is to design feedback controls that enable robots to autonomously reach predetermined destinations while avoiding collisions with obstacles and other robots. Various control algorithms, such as the control barrier function-based quadratic programming (CBF-QP) controller, address collision avoidance problems. Control barrier functions (CBFs) ensure forward invariance, which is critical for guaranteeing safety in robotic collision avoidance within agricultural fields. The goal of this study is to enhance the safety and mitigation of potential collisions in smart agriculture systems. The entire system was simulated in the MATLAB/Simulink environment, and the results demonstrated a 93% improvement in steady-state error over rapidly exploring random tree (RRT). These findings indicate that the proposed controller is highly effective for collision avoidance in smart agricultural systems.

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