Designing Control Barrier Functions for Underactuated Euler–Lagrange Systems Using Dynamic Safety Margins
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2025.3570934
Abstract: This letter shows how to design control barrier functions for underactuated and fully-actuated Euler-Lagrange systems subject to state and input constraints. The proposed method uses passivity-based considerations to limit the total energy available to the… read more here.
Keywords: lagrange systems; euler lagrange; control; functions underactuated ... See more keywords