An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.
Funnel control for nonlinear systems with known strict relative degree.Automatica, 87:345–357
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Approximation-Free Control Barrier Functions for Prescribed-Time Reach-Avoid of Unknown Systems
An approximation-free CBF framework achieves prescribed-time reach-avoid for unknown nonlinear systems by generating a safe reference on a virtual system and confining the true system to a Virtual Confinement Zone around it.