Continuous safety-critical control of Euler–Lagrange systems subject to multiple obstacles and velocity constraints

• Published in: Automatica (Oxford) Vol. 180; p. 112404
• Main Authors: Liu, Zhi, Wu, Si, Liu, Tengfei, Jiang, Zhong-Ping
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.10.2025
• Subjects: Euler–Lagrange (EL) systems; Position constraints; Velocity constraints; Position constraints; Euler–Lagrange (EL) systems; Velocity constraints
• ISSN: 0005-1098
• DOI: 10.1016/j.automatica.2025.112404

This paper studies the safety-critical control problem for Euler–Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints. A key strategy is to exploit the underlying cascade structure of EL systems to design a new safety-critical controller featuring an inner–outer-loop str...