A two-stage Bayesian procedure propagates credible sets from a learned Hamiltonian into control barrier functions, delivering an end-to-end safety guarantee of at least 1 minus the sum of two independent credibility budgets.
Inter- connection and damping assignment passivity-based control of port- controlled Hamiltonian systems
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Bayesian Safety Guarantees for Port-Hamiltonian Systems with Learned Energy Functions
A two-stage Bayesian procedure propagates credible sets from a learned Hamiltonian into control barrier functions, delivering an end-to-end safety guarantee of at least 1 minus the sum of two independent credibility budgets.