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eess.SY2024
Safety Filter Design for Articulated Frame Steering Vehicles In the Presence of Actuator Dynamics Using High-Order Control Barrier Functions
Naeim Ebrahimi Toulkani, Reza Ghabcheloo
Articulated Frame Steering (AFS) vehicles are widely used in heavy-duty industries, where they often operate near operators and laborers. Therefore, designing safe controllers for…
eess.SY2024
Minimally Conservative Controlled-Invariant Set Synthesis Using Control Barrier Certificates
Naeim Ebrahimi Toulkani, Reza Ghabcheloo
Finding a controlled-invariant set for a system with state and control constraints is crucial for safety-critical applications. However, existing methods often produce overly conse…