arxiveess.SY2026-07-17
Dynamic Constraint Reconstruction Based Control Barrier Functions for Safety-Critical Control of High-Dimensional Manipulators
Bingsheng Zhang, Shen Wang, Qiang Wang, Muguo Du, Donghai Shi, Xiaofeng Tao
Control barrier functions (CBFs) provide formal safety guarantees for constrained nonlinear systems, but their effectiveness relies on accurate system dynamics. In high-dimensional manipulators subject to unknown disturbances and model uncertainties, fixed safety constraints cons…