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.
To prove property (22c), leti∈ {1,2}be given and pick (x,v)∈ ˜Dsuch that∆ i(x,v) = 0
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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.