Designing Control Barrier Functions Using a Dynamic Backup Policy
No mentions found
This entity hasn't been tracked yet, or Iris is still building its knowledge base.
Related Articles from SNS
Designing Control Barrier Functions Using a Dynamic Backup Policy
arXiv:2510.09810v2 Announce Type: replace Abstract: This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspiration from the reference governor literature, the proposed method defines a family of backup policies, parametrized by the equilibrium manifold of the system. The control barrier function is defined on the augmented state-and-reference space: given a...