Abstract: This article addresses the challenge of designing robust controllers for uncertain systems subject to multiple input and state constraints. A nonlinear ...

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The Philadelphia Eagles have a franchise quarterback, Jalen Hurts. During Hurts' career, they've rotated through a variety of backup quarterbacks. It's kind of how they operate. That could mean Tanner ...

This is the complete documentation for v5.1.0 of the library, released on 2026-01-03.

Abstract: Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single ...