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H. Nguyễn

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Conference Aug 2026

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...

H. Nguyễn, D. Pham, Loc Nguyen · 0 citations

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