Introduces recurrent tracking functions allowing transient tracking errors to construct recurrent control barrier functions that guarantee safety for initial states in a control τ-recurrent set for high-order nonlinear systems.
Stabil- ity Analysis and Data-driven Verification via Recurrent Lya- punov Functions,
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Safety-Critical Control via Recurrent Tracking Functions
Introduces recurrent tracking functions allowing transient tracking errors to construct recurrent control barrier functions that guarantee safety for initial states in a control τ-recurrent set for high-order nonlinear systems.