Answers are grounded in this paper and cite their sources.
Control barrier functions are valuable for satisfying system constraints for general nonlinear systems. However a main drawback to existing techniques is the proper construction of these barrier functions to satisfy system and input constraints. In this paper, we propose a methodology to construct control barrier functions for Euler-Lagrange systems subject to input constraints. The proposed approach is validated in simulation on a 2-DOF planar manipulator.
No takes yet. Share an insight, caveat, or question.
Cortez et al. (2020) studied this question.