"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
optimization feasibility safety-critical-systems control-lyapunov-functions control-barrier-functions input-constraints
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Updated
May 23, 2021 - MATLAB