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High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems:An Augmented Dynamics Approach

Haijing Wang Jinzhu Peng Fangfang Zhang Yaonan Wang

自动化学报（英文版）2024，Vol.11Issue(12)：2487-2496,10.

自动化学报（英文版）2024，Vol.11Issue(12)：2487-2496,10.DOI:10.1109/JAS.2024.124524

High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems:An Augmented Dynamics Approach

Haijing Wang ¹Jinzhu Peng ²Fangfang Zhang ¹Yaonan Wang³

作者信息

1. School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China
2. School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China||National Engineering Laboratory for Robot Visual Perception and Control,Hunan University,Changsha 410082,China
3. School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China||National Engineering Laboratory for Robot Visual Perception and Control,Hunan University,Changsha 410082,China||College of Electrical and Information Engineering,Hunan University,Changsha 410082,China
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摘要

关键词

Augmented dynamics/high-order control barrier function(HoCBF)/input-output constraints/quadratic program(QP)/robotic systems

Key words

Augmented dynamics/high-order control barrier function(HoCBF)/input-output constraints/quadratic program(QP)/robotic systems

引用本文复制引用

Haijing Wang,Jinzhu Peng,Fangfang Zhang,Yaonan Wang..High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems:An Augmented Dynamics Approach[J].自动化学报（英文版）,2024,11(12):2487-2496,10.

基金项目

This work was supported in part by the National Natural Science Foundation of China(62273311,61773351)and Henan Provincial Science Foundation for Distinguished Young Scholars(242300421051). （62273311,61773351）

自动化学报（英文版）

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ISSN：2329-9266

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