نسخة أولية وصول مفتوح
Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach
Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presence of underactuation. In this work, we provide a constructive framework for synthesizing safe control architectures and control barrier funct …