{"id":"https://openalex.org/W4399436552","doi":"https://doi.org/10.1109/lcsys.2024.3412003","title":"Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems","display_name":"Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399436552","doi":"https://doi.org/10.1109/lcsys.2024.3412003"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2024.3412003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3412003","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.02709","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054992701","display_name":"M. Cohen","orcid":"https://orcid.org/0000-0001-6957-9645"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Max H. Cohen","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034165188","display_name":"Ryan K. Cosner","orcid":"https://orcid.org/0000-0002-4035-1425"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan K. Cosner","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054992701"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":2.9054,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9094705,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"2229","last_page":"2234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9412000179290771,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9412000179290771,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.729647696018219},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5595032572746277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5049956440925598},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.48663076758384705},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46606284379959106},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43381398916244507},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.37160754203796387},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.28390875458717346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2007504403591156},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.07669565081596375},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07164597511291504}],"concepts":[{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.729647696018219},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5595032572746277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5049956440925598},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.48663076758384705},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46606284379959106},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43381398916244507},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37160754203796387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28390875458717346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2007504403591156},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.07669565081596375},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07164597511291504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2024.3412003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3412003","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2406.02709","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.02709","pdf_url":"https://arxiv.org/pdf/2406.02709","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.02709","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.02709","pdf_url":"https://arxiv.org/pdf/2406.02709","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2085207012","display_name":null,"funder_award_id":"1932091","funder_id":"https://openalex.org/F4320307804","funder_display_name":"BP"}],"funders":[{"id":"https://openalex.org/F4320307804","display_name":"BP","ror":"https://ror.org/051659894"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399436552.pdf","grobid_xml":"https://content.openalex.org/works/W4399436552.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2041076275","https://openalex.org/W2489231587","https://openalex.org/W2489820110","https://openalex.org/W2525042068","https://openalex.org/W2560504659","https://openalex.org/W2765203865","https://openalex.org/W2887154784","https://openalex.org/W3143034939","https://openalex.org/W3168522732","https://openalex.org/W3181948800","https://openalex.org/W3195647294","https://openalex.org/W4292872153","https://openalex.org/W4315472240","https://openalex.org/W4376623856","https://openalex.org/W4377224316","https://openalex.org/W4383503924","https://openalex.org/W4387123822","https://openalex.org/W4387831887","https://openalex.org/W4389537349","https://openalex.org/W4392887407","https://openalex.org/W6858095871"],"related_works":["https://openalex.org/W2377770720","https://openalex.org/W94411513","https://openalex.org/W4311883357","https://openalex.org/W160889949","https://openalex.org/W2197168648","https://openalex.org/W2113626999","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395","https://openalex.org/W2052682608"],"abstract_inverted_index":{"Certifying":[0],"the":[1,7,72,78,91],"safety":[2,68],"of":[3,9],"nonlinear":[4],"systems,":[5],"through":[6],"lens":[8],"set":[10],"invariance":[11],"and":[12,38,106,110],"control":[13,46],"barrier":[14],"functions":[15],"(CBFs),":[16],"offers":[17],"a":[18,25,45,55,75,114],"powerful":[19],"method":[20],"for":[21,77],"controller":[22],"synthesis,":[23],"provided":[24],"CBF":[26,39,76],"can":[27],"be":[28],"constructed.":[29],"This":[30],"letter":[31],"draws":[32],"connections":[33],"between":[34],"partial":[35],"feedback":[36],"linearization":[37],"synthesis.":[40],"We":[41],"illustrate":[42],"that":[43],"when":[44],"affine":[47],"system":[48],"is":[49],"input-output":[50],"linearizable":[51],"with":[52],"respect":[53],"to":[54,74,87,94],"smooth":[56],"output":[57,73],"function,":[58],"then,":[59],"under":[60],"mild":[61],"regularity":[62],"conditions,":[63],"one":[64],"may":[65],"extend":[66],"any":[67],"constraint":[69],"defined":[70],"on":[71,113],"full-order":[79],"dynamics.":[80],"These":[81],"more":[82],"general":[83],"results":[84],"are":[85,104],"specialized":[86],"robotic":[88],"systems":[89],"where":[90],"conditions":[92],"required":[93],"synthesize":[95],"CBFs":[96,99],"simplify.":[97],"The":[98],"constructed":[100],"from":[101],"our":[102],"approach":[103],"applied":[105],"verified":[107],"in":[108],"simulation":[109],"hardware":[111],"experiments":[112],"quadrotor.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2024-06-08T00:00:00"}