Barrier Functions in Cascaded Controller: Safe Quadrotor Control
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Publisher
IEEE
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http://xplorestaging.ieee.org/ielx7/9140048/9147203/09147864.pdf?arnumber=9147864
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5. Formal Verification of Attitude Control Systems Using Geometric Barrier Functions;2023 62nd IEEE Conference on Decision and Control (CDC);2023-12-13
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