Abstract
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 functions for a class of quadrotor-like underactuated systems. By studying the geometry of their underactuation, we characterize when these systems have natural layered architectures useful for safety-critical control design. Using these architectures, we devise a constructive, hierarchical CBF synthesis procedure and provide conditions under which it succeeds.
Keywords
Publication details
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Cite this article
APA 7
de Sa, M., & Ames, A. D. (2026). Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach. https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach
MLA 9
de Sa, Massimiliano, and Aaron D. Ames. "Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach." https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach.
Chicago (author–date)
de Sa, Massimiliano, and Aaron D. Ames. 2026. "Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach." https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach.
Harvard
de Sa, M. and Ames, A. D. (2026) 'Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach', Available at: https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach.
Vancouver
de Sa M, Ames AD. Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach. https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach
IEEE
M. de Sa, and A. D. Ames, "Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach," https://omanscience.com/en/articles/constructive-safety-critical-control-for-a-class-of-underactuated-systems-a-hierarchical-approach.