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Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics

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Abstract

Safety is an essential requirement for control systems. Typically, controlled mobile robots are subject to safety constraints, to which control laws in typical forms may not be directly applicable. This paper employs barrier function to describe safety constraints, analyzes the interaction between the barrier function and the uncertain actuation dynamics by employing the ideas of interconnected systems, and proposes a quadratic-programming-based integration of the control algorithms subject to the safety constraint for a class of fully actuated systems.

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Correspondence to Tengfei Liu.

Additional information

This paper was supported in part by the National Natural Science Foundation of China under Grant No. U1911401.

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Wu, S., Liu, T. Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics. J Syst Sci Complex 35, 543–558 (2022). https://doi.org/10.1007/s11424-022-2093-5

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  • DOI: https://doi.org/10.1007/s11424-022-2093-5

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