D. Pham

Robust Safety-Critical Control of Planar Robotic Manipulators Under Disturbances

We present a safety-critical control framework based on Disturbance Observer-Parameterized Control Barrier Functions (DOP-CBF) for general n-DOF planar robotic manipulators. The framework enforces joint angle and joint angular velocity limits as key safety constraints. It integrates a proportional-derivative (PD)-like...