Verification and Synthesis of Compatible Control Lyapunov and Control Barrier Functions
IEEE Conference on Decision and Control（2024）
Key words
Lyapunov Function,Control Lyapunov Function,Control Barrier Functions,Compatibility Condition,Nominal Control,Optimization Problem,Dynamical,Equilibrium State,State Space,Lagrange Multiplier,Positive Constant,Asymptotically Stable,Convex Optimization,Convex Optimization Problem,Revolute Joints,Candidate States,Safe Region,Algebraic Constraints
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