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eess.SY2021
On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs
Xiao Tan, Dimos V. Dimarogonas
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed fo…
eess.SY2021
High-order Barrier Functions: Robustness, Safety and Performance-Critical Control
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
In this paper, we propose a notion of high-order (zeroing) barrier functions that generalizes the concept of zeroing barrier functions and guarantees set forward invariance by chec…