Dynamic safety margins are shown to be control barrier functions for an augmented state-reference system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control sharing.
For each of the two bounds, we take Γ∗ 1(v) = 1 2 kp(v−x min)|v−x min|, Γ∗ 2(v) = 1 2 kp(xmax −v)|x max −v|
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Using Dynamic Safety Margins as Control Barrier Functions
Dynamic safety margins are shown to be control barrier functions for an augmented state-reference system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control sharing.