A sliding mode controller with C3BF safety filter achieves robust trajectory tracking and moving obstacle avoidance across Ackermann, differential drive, and quadrotor platforms, validated in real experiments.
Robustness of control barrier functions for safety critical control
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Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
A sliding mode controller with C3BF safety filter achieves robust trajectory tracking and moving obstacle avoidance across Ackermann, differential drive, and quadrotor platforms, validated in real experiments.