English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents two new control approaches for guaranteed safety(remaining in a safe set) subject to actuator constraints (the control is in aconvex polytope). The control signals are computed using real-timeoptimization, including linear and quadratic programs subject to affineconstraints, which are shown to be feasible. The first control method relies ona soft-minimum barrier function that is constructed using a finite-time-horizonprediction of the system trajectories under a known backup control. The mainresult shows that: (i) the control is continuous and satisfies the actuatorconstraints, and (ii) a subset of the safe set is forward invariant under thecontrol. Next, we extend this method to allow from multiple backup controls.This second control approach relies on a combined soft-maximum/soft-minimumbarrier function, and it has properties similar to the first. We demonstratethese controls on numerical simulations of an inverted pendulum and anonholonomic ground robot.

Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints