Zuodong Pan

Optimal Safety Control using High-Order Control Barrier Functions

Neng Li, Zuodong Pan, Jiaxing Wang, Weiguo Xia, Wei Ren

This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel high-order control barrier functions (HOCBFs). Different from zeroing HOCBFs, two novel HOCBFs are derived and the safety controllers are designed in an explicit way. Next,…Read more