The authors build reach-avoid controllers for nonlinear multi-input multi-output systems by backstepping a certificate synthesized on a simpler single-integrator system.
Robust control barrier–value functions for safety-critical control,
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Backstepping Reach-avoid Controller Synthesis for Multi-input Multi-output Systems with Mixed Relative Degrees
The authors build reach-avoid controllers for nonlinear multi-input multi-output systems by backstepping a certificate synthesized on a simpler single-integrator system.