IEEE

Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints

Abstract: We introduce Exponential Control Barrier Functions as means to enforce strict state-dependent high relative degree safety constraints for nonlinear systems. We also develop a systematic ...
IEEE

Exponential Control Lyapunov-Barrier Function Using a Filtering-Based Concurrent Learning Adaptive Approach

Abstract: The state-of-the-art quadratic-program-based control Lyapunov-barrier function (QP-CLBF) is a powerful control approach to balance safety and stability in an optimal fashion. However, under ...